Optimal Control Of A Double Integrator

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Optimal Control of a Double Integrator

Author : Arturo Locatelli
Publisher : Springer
ISBN 13 : 3319421263
Total Pages : 311 pages
Book Rating : 4.3/5 (194 download)

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Book Synopsis Optimal Control of a Double Integrator by : Arturo Locatelli

Download or read book Optimal Control of a Double Integrator written by Arturo Locatelli and published by Springer. This book was released on 2016-07-26 with total page 311 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book provides an introductory yet rigorous treatment of Pontryagin’s Maximum Principle and its application to optimal control problems when simple and complex constraints act on state and control variables, the two classes of variable in such problems. The achievements resulting from first-order variational methods are illustrated with reference to a large number of problems that, almost universally, relate to a particular second-order, linear and time-invariant dynamical system, referred to as the double integrator. The book is ideal for students who have some knowledge of the basics of system and control theory and possess the calculus background typically taught in undergraduate curricula in engineering. Optimal control theory, of which the Maximum Principle must be considered a cornerstone, has been very popular ever since the late 1950s. However, the possibly excessive initial enthusiasm engendered by its perceived capability to solve any kind of problem gave way to its equally unjustified rejection when it came to be considered as a purely abstract concept with no real utility. In recent years it has been recognized that the truth lies somewhere between these two extremes, and optimal control has found its (appropriate yet limited) place within any curriculum in which system and control theory plays a significant role.

Calculus of Variations and Optimal Control Theory

Author : Daniel Liberzon
Publisher : Princeton University Press
ISBN 13 : 0691151873
Total Pages : 255 pages
Book Rating : 4.6/5 (911 download)

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Book Synopsis Calculus of Variations and Optimal Control Theory by : Daniel Liberzon

Download or read book Calculus of Variations and Optimal Control Theory written by Daniel Liberzon and published by Princeton University Press. This book was released on 2012 with total page 255 pages. Available in PDF, EPUB and Kindle. Book excerpt: This textbook offers a concise yet rigorous introduction to calculus of variations and optimal control theory, and is a self-contained resource for graduate students in engineering, applied mathematics, and related subjects. Designed specifically for a one-semester course, the book begins with calculus of variations, preparing the ground for optimal control. It then gives a complete proof of the maximum principle and covers key topics such as the Hamilton-Jacobi-Bellman theory of dynamic programming and linear-quadratic optimal control. Calculus of Variations and Optimal Control Theory also traces the historical development of the subject and features numerous exercises, notes and references at the end of each chapter, and suggestions for further study. Offers a concise yet rigorous introduction Requires limited background in control theory or advanced mathematics Provides a complete proof of the maximum principle Uses consistent notation in the exposition of classical and modern topics Traces the historical development of the subject Solutions manual (available only to teachers) Leading universities that have adopted this book include: University of Illinois at Urbana-Champaign ECE 553: Optimum Control Systems Georgia Institute of Technology ECE 6553: Optimal Control and Optimization University of Pennsylvania ESE 680: Optimal Control Theory University of Notre Dame EE 60565: Optimal Control

Geometric Optimal Control

Author : Heinz Schättler
Publisher : Springer Science & Business Media
ISBN 13 : 1461438349
Total Pages : 652 pages
Book Rating : 4.4/5 (614 download)

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Book Synopsis Geometric Optimal Control by : Heinz Schättler

Download or read book Geometric Optimal Control written by Heinz Schättler and published by Springer Science & Business Media. This book was released on 2012-06-26 with total page 652 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book gives a comprehensive treatment of the fundamental necessary and sufficient conditions for optimality for finite-dimensional, deterministic, optimal control problems. The emphasis is on the geometric aspects of the theory and on illustrating how these methods can be used to solve optimal control problems. It provides tools and techniques that go well beyond standard procedures and can be used to obtain a full understanding of the global structure of solutions for the underlying problem. The text includes a large number and variety of fully worked out examples that range from the classical problem of minimum surfaces of revolution to cancer treatment for novel therapy approaches. All these examples, in one way or the other, illustrate the power of geometric techniques and methods. The versatile text contains material on different levels ranging from the introductory and elementary to the advanced. Parts of the text can be viewed as a comprehensive textbook for both advanced undergraduate and all level graduate courses on optimal control in both mathematics and engineering departments. The text moves smoothly from the more introductory topics to those parts that are in a monograph style were advanced topics are presented. While the presentation is mathematically rigorous, it is carried out in a tutorial style that makes the text accessible to a wide audience of researchers and students from various fields, including the mathematical sciences and engineering. Heinz Schättler is an Associate Professor at Washington University in St. Louis in the Department of Electrical and Systems Engineering, Urszula Ledzewicz is a Distinguished Research Professor at Southern Illinois University Edwardsville in the Department of Mathematics and Statistics.

Optimal Relay and Saturating Control System Synthesis

Author : Eugene P. Ryan
Publisher : Institution of Electrical Engineers
ISBN 13 :
Total Pages : 360 pages
Book Rating : 4.F/5 ( download)

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Book Synopsis Optimal Relay and Saturating Control System Synthesis by : Eugene P. Ryan

Download or read book Optimal Relay and Saturating Control System Synthesis written by Eugene P. Ryan and published by Institution of Electrical Engineers. This book was released on 1982 with total page 360 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Feedback Systems

Author : Karl Johan Åström
Publisher : Princeton University Press
ISBN 13 : 069121347X
Total Pages : pages
Book Rating : 4.6/5 (912 download)

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Book Synopsis Feedback Systems by : Karl Johan Åström

Download or read book Feedback Systems written by Karl Johan Åström and published by Princeton University Press. This book was released on 2021-02-02 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: The essential introduction to the principles and applications of feedback systems—now fully revised and expanded This textbook covers the mathematics needed to model, analyze, and design feedback systems. Now more user-friendly than ever, this revised and expanded edition of Feedback Systems is a one-volume resource for students and researchers in mathematics and engineering. It has applications across a range of disciplines that utilize feedback in physical, biological, information, and economic systems. Karl Åström and Richard Murray use techniques from physics, computer science, and operations research to introduce control-oriented modeling. They begin with state space tools for analysis and design, including stability of solutions, Lyapunov functions, reachability, state feedback observability, and estimators. The matrix exponential plays a central role in the analysis of linear control systems, allowing a concise development of many of the key concepts for this class of models. Åström and Murray then develop and explain tools in the frequency domain, including transfer functions, Nyquist analysis, PID control, frequency domain design, and robustness. Features a new chapter on design principles and tools, illustrating the types of problems that can be solved using feedback Includes a new chapter on fundamental limits and new material on the Routh-Hurwitz criterion and root locus plots Provides exercises at the end of every chapter Comes with an electronic solutions manual An ideal textbook for undergraduate and graduate students Indispensable for researchers seeking a self-contained resource on control theory

Splitting Algorithms, Modern Operator Theory, and Applications

Author : Heinz H. Bauschke
Publisher : Springer Nature
ISBN 13 : 3030259390
Total Pages : 489 pages
Book Rating : 4.0/5 (32 download)

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Book Synopsis Splitting Algorithms, Modern Operator Theory, and Applications by : Heinz H. Bauschke

Download or read book Splitting Algorithms, Modern Operator Theory, and Applications written by Heinz H. Bauschke and published by Springer Nature. This book was released on 2019-11-06 with total page 489 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book brings together research articles and state-of-the-art surveys in broad areas of optimization and numerical analysis with particular emphasis on algorithms. The discussion also focuses on advances in monotone operator theory and other topics from variational analysis and nonsmooth optimization, especially as they pertain to algorithms and concrete, implementable methods. The theory of monotone operators is a central framework for understanding and analyzing splitting algorithms. Topics discussed in the volume were presented at the interdisciplinary workshop titled Splitting Algorithms, Modern Operator Theory, and Applications held in Oaxaca, Mexico in September, 2017. Dedicated to Jonathan M. Borwein, one of the most versatile mathematicians in contemporary history, this compilation brings theory together with applications in novel and insightful ways.

Introduction to Optimal Control Theory

Author : Jack Macki
Publisher : Springer Science & Business Media
ISBN 13 : 1461256712
Total Pages : 179 pages
Book Rating : 4.4/5 (612 download)

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Book Synopsis Introduction to Optimal Control Theory by : Jack Macki

Download or read book Introduction to Optimal Control Theory written by Jack Macki and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 179 pages. Available in PDF, EPUB and Kindle. Book excerpt: This monograph is an introduction to optimal control theory for systems governed by vector ordinary differential equations. It is not intended as a state-of-the-art handbook for researchers. We have tried to keep two types of reader in mind: (1) mathematicians, graduate students, and advanced undergraduates in mathematics who want a concise introduction to a field which contains nontrivial interesting applications of mathematics (for example, weak convergence, convexity, and the theory of ordinary differential equations); (2) economists, applied scientists, and engineers who want to understand some of the mathematical foundations. of optimal control theory. In general, we have emphasized motivation and explanation, avoiding the "definition-axiom-theorem-proof" approach. We make use of a large number of examples, especially one simple canonical example which we carry through the entire book. In proving theorems, we often just prove the simplest case, then state the more general results which can be proved. Many of the more difficult topics are discussed in the "Notes" sections at the end of chapters and several major proofs are in the Appendices. We feel that a solid understanding of basic facts is best attained by at first avoiding excessive generality. We have not tried to give an exhaustive list of references, preferring to refer the reader to existing books or papers with extensive bibliographies. References are given by author's name and the year of publication, e.g., Waltman [1974].

Calculus of Variations and Optimal Control Theory

Author : Magnus Rudolph Hestenes
Publisher :
ISBN 13 :
Total Pages : 432 pages
Book Rating : 4.3/5 (91 download)

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Book Synopsis Calculus of Variations and Optimal Control Theory by : Magnus Rudolph Hestenes

Download or read book Calculus of Variations and Optimal Control Theory written by Magnus Rudolph Hestenes and published by . This book was released on 1980 with total page 432 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Feedback Control

Author : Stephen J. Dodds
Publisher : Springer
ISBN 13 : 1447166752
Total Pages : 1012 pages
Book Rating : 4.4/5 (471 download)

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Book Synopsis Feedback Control by : Stephen J. Dodds

Download or read book Feedback Control written by Stephen J. Dodds and published by Springer. This book was released on 2015-07-18 with total page 1012 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book develops the understanding and skills needed to be able to tackle original control problems. The general approach to a given control problem is to try the simplest tentative solution first and, when this is insufficient, to explain why and use a more sophisticated alternative to remedy the deficiency and achieve satisfactory performance. This pattern of working gives readers a full understanding of different controllers and teaches them to make an informed choice between traditional controllers and more advanced modern alternatives in meeting the needs of a particular plant. Attention is focused on the time domain, covering model-based linear and nonlinear forms of control together with robust control based on sliding modes and the use of state observers such as disturbance estimation. Feedback Control is self-contained, paying much attention to explanations of underlying concepts, with detailed mathematical derivations being employed where necessary. Ample use is made of diagrams to aid these conceptual explanations and the subject matter is enlivened by continual use of examples and problems derived from real control applications. Readers’ learning is further enhanced by experimenting with the fully-commented MATLAB®/Simulink® simulation environment made accessible at insert URL here to produce simulations relevant to all of the topics covered in the text. A solutions manual for use by instructors adopting the book can also be downloaded from insert URL here. Feedback Control is suitable as a main textbook for graduate and final-year undergraduate courses containing control modules; knowledge of ordinary linear differential equations, Laplace transforms, transfer functions, poles and zeros, root locus and elementary frequency response analysis, and elementary feedback control is required. It is also a useful reference source on control design methods for engineers practicing in industry and for academic control researchers.

Optimal Control Theory

Author : Donald E. Kirk
Publisher : Courier Corporation
ISBN 13 : 0486135071
Total Pages : 466 pages
Book Rating : 4.4/5 (861 download)

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Book Synopsis Optimal Control Theory by : Donald E. Kirk

Download or read book Optimal Control Theory written by Donald E. Kirk and published by Courier Corporation. This book was released on 2012-04-26 with total page 466 pages. Available in PDF, EPUB and Kindle. Book excerpt: Upper-level undergraduate text introduces aspects of optimal control theory: dynamic programming, Pontryagin's minimum principle, and numerical techniques for trajectory optimization. Numerous figures, tables. Solution guide available upon request. 1970 edition.

Reinforcement Learning and Dynamic Programming Using Function Approximators

Author : Lucian Busoniu
Publisher : CRC Press
ISBN 13 : 1439821097
Total Pages : 280 pages
Book Rating : 4.4/5 (398 download)

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Book Synopsis Reinforcement Learning and Dynamic Programming Using Function Approximators by : Lucian Busoniu

Download or read book Reinforcement Learning and Dynamic Programming Using Function Approximators written by Lucian Busoniu and published by CRC Press. This book was released on 2017-07-28 with total page 280 pages. Available in PDF, EPUB and Kindle. Book excerpt: From household appliances to applications in robotics, engineered systems involving complex dynamics can only be as effective as the algorithms that control them. While Dynamic Programming (DP) has provided researchers with a way to optimally solve decision and control problems involving complex dynamic systems, its practical value was limited by algorithms that lacked the capacity to scale up to realistic problems. However, in recent years, dramatic developments in Reinforcement Learning (RL), the model-free counterpart of DP, changed our understanding of what is possible. Those developments led to the creation of reliable methods that can be applied even when a mathematical model of the system is unavailable, allowing researchers to solve challenging control problems in engineering, as well as in a variety of other disciplines, including economics, medicine, and artificial intelligence. Reinforcement Learning and Dynamic Programming Using Function Approximators provides a comprehensive and unparalleled exploration of the field of RL and DP. With a focus on continuous-variable problems, this seminal text details essential developments that have substantially altered the field over the past decade. In its pages, pioneering experts provide a concise introduction to classical RL and DP, followed by an extensive presentation of the state-of-the-art and novel methods in RL and DP with approximation. Combining algorithm development with theoretical guarantees, they elaborate on their work with illustrative examples and insightful comparisons. Three individual chapters are dedicated to representative algorithms from each of the major classes of techniques: value iteration, policy iteration, and policy search. The features and performance of these algorithms are highlighted in extensive experimental studies on a range of control applications. The recent development of applications involving complex systems has led to a surge of interest in RL and DP methods and the subsequent need for a quality resource on the subject. For graduate students and others new to the field, this book offers a thorough introduction to both the basics and emerging methods. And for those researchers and practitioners working in the fields of optimal and adaptive control, machine learning, artificial intelligence, and operations research, this resource offers a combination of practical algorithms, theoretical analysis, and comprehensive examples that they will be able to adapt and apply to their own work. Access the authors' website at www.dcsc.tudelft.nl/rlbook/ for additional material, including computer code used in the studies and information concerning new developments.

Applied Dynamic Programming for Optimization of Dynamical Systems

Author : Rush D. Robinett III
Publisher : SIAM
ISBN 13 : 0898715865
Total Pages : 273 pages
Book Rating : 4.8/5 (987 download)

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Book Synopsis Applied Dynamic Programming for Optimization of Dynamical Systems by : Rush D. Robinett III

Download or read book Applied Dynamic Programming for Optimization of Dynamical Systems written by Rush D. Robinett III and published by SIAM. This book was released on 2005-07-01 with total page 273 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book presents a range of dynamic programming (DP) techniques applied to the optimization of dynamical systems.

Hard Disk Drive

Author : Abdullah Al Mamun
Publisher : CRC Press
ISBN 13 : 1420004107
Total Pages : 359 pages
Book Rating : 4.4/5 (2 download)

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Book Synopsis Hard Disk Drive by : Abdullah Al Mamun

Download or read book Hard Disk Drive written by Abdullah Al Mamun and published by CRC Press. This book was released on 2017-12-19 with total page 359 pages. Available in PDF, EPUB and Kindle. Book excerpt: The hard disk drive is one of the finest examples of the precision control of mechatronics, with tolerances less than one micrometer achieved while operating at high speed. Increasing demand for higher data density as well as disturbance-prone operating environments continue to test designers' mettle. Explore the challenges presented by modern hard disk drives and learn how to overcome them with Hard Disk Drive: Mechatronics and Control. Beginning with an overview of hard disk drive history, components, operating principles, and industry trends, the authors thoroughly examine the design and manufacturing challenges. They start with the head positioning servomechanism followed by the design of the actuator servo controller, the critical aspects of spindle motor control, and finally, the servo track writer, a critical technology in hard disk drive manufacturing. By comparing various design approaches for both single- and dual-stage servomechanisms, the book shows the relative pros and cons of each approach. Numerous examples and figures clarify and illustrate the discussion. Exploring practical issues such as models for plants, noise reduction, disturbances, and common problems with spindle motors, Hard Disk Drive: Mechatronics and Control avoids heavy theory in favor of providing hands-on insight into real issues facing designers every day.

Linear Control Theory

Author : Shankar P. Bhattacharyya
Publisher : CRC Press
ISBN 13 : 1351837079
Total Pages : 679 pages
Book Rating : 4.3/5 (518 download)

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Book Synopsis Linear Control Theory by : Shankar P. Bhattacharyya

Download or read book Linear Control Theory written by Shankar P. Bhattacharyya and published by CRC Press. This book was released on 2018-10-03 with total page 679 pages. Available in PDF, EPUB and Kindle. Book excerpt: Successfully classroom-tested at the graduate level, Linear Control Theory: Structure, Robustness, and Optimization covers three major areas of control engineering (PID control, robust control, and optimal control). It provides balanced coverage of elegant mathematical theory and useful engineering-oriented results. The first part of the book develops results relating to the design of PID and first-order controllers for continuous and discrete-time linear systems with possible delays. The second section deals with the robust stability and performance of systems under parametric and unstructured uncertainty. This section describes several elegant and sharp results, such as Kharitonov’s theorem and its extensions, the edge theorem, and the mapping theorem. Focusing on the optimal control of linear systems, the third part discusses the standard theories of the linear quadratic regulator, Hinfinity and l1 optimal control, and associated results. Written by recognized leaders in the field, this book explains how control theory can be applied to the design of real-world systems. It shows that the techniques of three term controllers, along with the results on robust and optimal control, are invaluable to developing and solving research problems in many areas of engineering.

Nonlinear Model Predictive Control

Author : Frank Allgöwer
Publisher : Birkhäuser
ISBN 13 : 3034884079
Total Pages : 463 pages
Book Rating : 4.0/5 (348 download)

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Book Synopsis Nonlinear Model Predictive Control by : Frank Allgöwer

Download or read book Nonlinear Model Predictive Control written by Frank Allgöwer and published by Birkhäuser. This book was released on 2012-12-06 with total page 463 pages. Available in PDF, EPUB and Kindle. Book excerpt: During the past decade model predictive control (MPC), also referred to as receding horizon control or moving horizon control, has become the preferred control strategy for quite a number of industrial processes. There have been many significant advances in this area over the past years, one of the most important ones being its extension to nonlinear systems. This book gives an up-to-date assessment of the current state of the art in the new field of nonlinear model predictive control (NMPC). The main topic areas that appear to be of central importance for NMPC are covered, namely receding horizon control theory, modeling for NMPC, computational aspects of on-line optimization and application issues. The book consists of selected papers presented at the International Symposium on Nonlinear Model Predictive Control – Assessment and Future Directions, which took place from June 3 to 5, 1998, in Ascona, Switzerland. The book is geared towards researchers and practitioners in the area of control engineering and control theory. It is also suited for postgraduate students as the book contains several overview articles that give a tutorial introduction into the various aspects of nonlinear model predictive control, including systems theory, computations, modeling and applications.

Linear Multivariable Control Systems

Author : Shankar P. Bhattacharyya
Publisher : Cambridge University Press
ISBN 13 : 1108899277
Total Pages : 698 pages
Book Rating : 4.1/5 (88 download)

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Book Synopsis Linear Multivariable Control Systems by : Shankar P. Bhattacharyya

Download or read book Linear Multivariable Control Systems written by Shankar P. Bhattacharyya and published by Cambridge University Press. This book was released on 2022-01-13 with total page 698 pages. Available in PDF, EPUB and Kindle. Book excerpt: This rigorous yet accessible textbook provides broad and systematic coverage of linear multivariable control systems, including several new approaches to design. In addition to standard state space theory, it provides a new measurement-based approach to linear systems, including a generalization of Thevenin's Theorem, a new single-input single-output approach to multivariable control, and analytical design of PID controllers developed by the authors. Each result is rigorously proved and combined with specific control systems applications, such as the servomechanism problem, the fragility of high order controllers, multivariable control, and PID controllers. Illustrative examples solved using MATLAB and SIMULINK, with easily reusable programming scripts, are included throughout. Numerous end-of-chapter homework problems enhance understanding. Based on course-tested material, this textbook is ideal for a single or two-semester graduate course on linear multivariable control systems in aerospace, chemical, electrical and mechanical engineering.

Non-Adaptive and Adaptive Control of Manipulation Robots

Author : M. Vukobratovic
Publisher : Springer Science & Business Media
ISBN 13 : 3642822010
Total Pages : 394 pages
Book Rating : 4.6/5 (428 download)

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Book Synopsis Non-Adaptive and Adaptive Control of Manipulation Robots by : M. Vukobratovic

Download or read book Non-Adaptive and Adaptive Control of Manipulation Robots written by M. Vukobratovic and published by Springer Science & Business Media. This book was released on 2013-12-11 with total page 394 pages. Available in PDF, EPUB and Kindle. Book excerpt: The material presented in this monograph is a logical continuation of research results achieved in the control of manipulation robots. This is in a way, a synthesis of many-year research efforts of the associates of Robotics Department, Mihailo Pupin Institute, in the field of dynamic control.of robotic systems. As in Vol. 2 of this Series, all results rely on the mathematical models of dynamics of active spatial mechanisms which offer the possibility for adequate dynamic control of manipula tion robots. Compared with Vol. 2, this monograph has three essential new character istics, and a variety of new tasks arising in the control of robots which have been formulated and solved for the first time. One of these novelties is nonadaptive control synthesized for the case of large variations in payload parameters, under the condition that the practical stability of the overall system is satisfied. Such a case of control synthesis meets the actual today's needs in industrial robot applications. The second characteristic of the monograph is the efficient adaptive control algorithm based on decentralized control structure intended for tasks in which parameter variations cannot be specified in advance. To be objective, this is not the case in industrial robotics today. Thus, nonadaptive control with and without a particular parameter variation is supplemented by adaptive dynamic control algorithms which will cer tainly be applicable in the future industrial practice when parametric identification of workpieces will be required.