Scribd
Upload
50 views

EACT633 - Optimal Control and It's Applications Worksheet For Chapter 4, 5 & 6

1. This document contains a 15-question worksheet on optimal control and its applications from a course on electrical automation and control technology. The questions cover topics like obtaining optimal control laws, Riccati equations, linear quadratic regulation, dynamic programming, calculus of variations, and genetic algorithms. 2. Several questions ask students to find optimal control laws for systems described by state equations that minimize performance indices involving states and controls. Other questions derive necessary conditions for optimality using techniques like calculus of variations and Pontryagin's minimum principle. 3. The last question asks students to formulate and solve a sample optimal control problem by specifying an objective function, design variables, constraints, and using an appropriate optimization method to

Uploaded by

.ash
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
50 views

EACT633 - Optimal Control and It's Applications Worksheet For Chapter 4, 5 & 6

1. This document contains a 15-question worksheet on optimal control and its applications from a course on electrical automation and control technology. The questions cover topics like obtaining optimal control laws, Riccati equations, linear quadratic regulation, dynamic programming, calculus of variations, and genetic algorithms. 2. Several questions ask students to find optimal control laws for systems described by state equations that minimize performance indices involving states and controls. Other questions derive necessary conditions for optimality using techniques like calculus of variations and Pontryagin's minimum principle. 3. The last question asks students to formulate and solve a sample optimal control problem by specifying an objective function, design variables, constraints, and using an appropriate optimization method to

Uploaded by

.ash
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 3

Federal TVET Institute, Addis Ababa, Ethiopia.

Department of Electrical Automation and Control Technology


EACT633 – Optimal Control and It’s Applications
Worksheet for Chapter 4, 5 & 6
∞
1. Obtain the control law which minimize the performance index 𝐽 = ∫0 (𝑥12 + 𝑢2 )
for system

0 1 0
𝑋̇ = [ ]𝑋 + [ ]𝑢
0 0 1
2. Consider a system described by the equations

0 1 0
𝑋̇ = [ ]𝑥 + [ ]𝑢
0 0 1

𝑥1 (0) = 𝑥2 (0) = 1.

Consider the feedback control law 𝑢 = −𝑥1 − 𝐾𝑥2


1 ∞
(i) Find the value of 𝐾 so that 𝐽 = ∫0 (𝑥12 + 𝑥22 ) 𝑑𝑡 is minimized.
2
(ii) Find minimum value of 𝐽.
3. Derive the Riccatti’s equation as a solution of steady state optimal control problem
4. Explain the properties and use of LQR
5. Consider a double integrator plant having state model
𝑥̇ 0 1 𝑥1 0
[ 1] = [ ] | ] + [ ] 𝑢; 𝐶 = [1 0].
𝑥̇ 2 0 0 𝑥2 1

It is desired to design an optimal state feedback controller of the form


∞
𝑢(𝑡) = −𝐾𝑥(𝑡) such that the performance measure 𝐽 = ∫0 [𝑥 𝑇 𝑄𝑥 + 𝑢𝑇 𝑢] 𝑑𝑡

1 0
where 𝑄 = [ ] , 𝑅 = 1 is minimized.
0 0
6. Consider a system described by the equations

0 1 0
𝑥̇ = [ ]𝑥 + [ ]𝑢
0 0 1

𝑥1 (0) = 𝑥2 (0) = 1.

Consider the feedback control law 𝑢 = −𝑥1 − 𝐾𝑥2


1 ∞
(i) Find the value of K so that 𝐽 = 2 ∫0 (𝑥12 + 𝑥22 ) 𝑑𝑡 is minimized.
(ii) (ii) Find minimum value of 𝐽.
7. Consider the system described by the state model.

0 1 0
𝑥̇ = [ ] 𝑥 + [ ] 𝑢; 𝑦 = [1 0]𝑥
0 −2 20

find the optimal control law that minimizes


Federal TVET Institute, Addis Ababa, Ethiopia.
Department of Electrical Automation and Control Technology
EACT633 – Optimal Control and It’s Applications
Worksheet for Chapter 4, 5 & 6
1 ∞ 2
𝐽 = ∫ (𝑦 + 𝑢2 ) 𝑑𝑡
2 0

8. Determine the optimal control law for the system described by

0 1 0
𝑥̇ (𝑡) = [ ] 𝑥(𝑡) + [ ] 𝑢(𝑡)
−2 −3 1

such that the following performance index is minimized.


∞
𝐽 = ∫ (𝑥 𝑇 𝑥 + 𝑢2 ) 𝑑𝑡
0

9. A system is described by a state equation


𝑥(𝑘 + 1) = 𝑎𝐷 (𝑥(𝑘), 𝑢(𝑘)); 𝑘 = 0,1, … , 𝑁 − 1
Determine the computational procedure of control law using Dynamic Programming method
that minimize the criterion
𝑁−1

𝐽 = ℎ(𝑥(𝑁)) + ∑ 𝑔𝐷 (𝑥(𝑘), 𝑢(𝑘)).


𝑘=0

10. Derive the nonlinear partial differential Hamilton-Jacobi-Bellmen equation and compare to
the Bellmen’s recurrence equation.
11. Derive the necessary optimality condition using calculus of variations for the optimal
control problem to find the input control signal u*(t) on the time interval [to, T] that drives
the plant (system)
x(t ) = f ( x, u, t ), x(t0 ) = x0

by satisfying the augmented Lagrangian function

J  =  ( x(T ), T ) + T  ( x(T ), T ) +   L(x,u, t ) +  T (t ) ( f (x,u, t ) − x )dt


T

to

12. Find the optimal state and control trajectory of the integrator for minimizing the
objective function

min J =
u (t )  1
2 
0
T
( x 2 + 0.25u 2 )dt 
s.t. x = u, x(0) = 1
using calculus of variations.
Federal TVET Institute, Addis Ababa, Ethiopia.
Department of Electrical Automation and Control Technology
EACT633 – Optimal Control and It’s Applications
Worksheet for Chapter 4, 5 & 6
13. Derive the necessary optimality condition using calculus of variations for the optimal
control problem to find the input control signal u*(t) on the time interval [to, T] that drives
the plant (system)
x(t ) = f ( x, u, t ), x(t0 ) = x0
by satisfying the augmented Lagrangian function based on the Pontryagin’s Minimum
principle

J  =  ( x(T ), T ) + T  ( x(T ), T ) +   L(x,u, t ) +  T (t ) ( f (x,u, t ) − x )dt


T

to

14. Explain the Genetic Algorithm (GA) cycle of reproduction. Also, discuss the important issues
for GA practitioners.
15. Case study: consider an optimal control application and answer the following
i) State the optimization problem
ii) Formulate the objective function
iii) Select the design variables
iv) Write the constraints
v) Provide the optimal solution using suitable optimization method.

You might also like