Input shaping design using sequential linear programming (SLP) for non-linear systems

This paper presents a sequential optimization technique for the design of optimal controllers. Linearizing the system model about nominal trajectories results in a linear programming problem which is used to select a perturbation to the nominal control to satisfy the boundary conditions and the stat...

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Bibliographic Details
Published in2008 American Control Conference pp. 3275 - 3280
Main Authors Singla, P., Singh, T., Manyam, S.G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2008
Subjects
Control systems
Cost function
Iterative methods
Linear programming
Linear systems
Nonlinear control systems
Nonlinear systems
Optimal control
Sampling methods
Shape control
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Summary:This paper presents a sequential optimization technique for the design of optimal controllers. Linearizing the system model about nominal trajectories results in a linear programming problem which is used to select a perturbation to the nominal control to satisfy the boundary conditions and the state and control constraints. Sequential solution of linear programming problem where the linearized system and control influence matrices are time varying results in the optimal control. Two approaches wherein the perturbation control is constant and linearly varying within a sampling interval are tested on benchmark problems and the results are compared to illustrate the performance of the proposed technique.
ISBN:1424420784
9781424420780
ISSN:0743-1619
2378-5861
DOI:10.1109/ACC.2008.4586997