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Assignment ON Optimal Control Theory: Submitted By: Rabiya Azmat M.TECH (CIS) - 13

The document is an assignment question on optimal control theory submitted by Rabiya Azmat. It asks to find the optimal control values and minimum cost to bring a continuously operating system state to a target set, minimizing control effort. The system model and constraints on state and control values are provided. The problem is solved by quantizing the state and control spaces and determining the optimal controls and costs at each point using the system model and cost function. The optimal control sequence for an initial state of 6 is found to be -0.5 followed by -1.

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52 views

Assignment ON Optimal Control Theory: Submitted By: Rabiya Azmat M.TECH (CIS) - 13

The document is an assignment question on optimal control theory submitted by Rabiya Azmat. It asks to find the optimal control values and minimum cost to bring a continuously operating system state to a target set, minimizing control effort. The system model and constraints on state and control values are provided. The problem is solved by quantizing the state and control spaces and determining the optimal controls and costs at each point using the system model and cost function. The optimal control sequence for an initial state of 6 is found to be -0.5 followed by -1.

Uploaded by

alshifa
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
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Download as DOCX, PDF, TXT or read online on Scribd
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ASSIGNMENT

ON
OPTIMAL CONTROL THEORY

SUBMITTED BY:

RABIYA AZMAT

M.TECH(CIS) -13
Question No.3.5:

The approximating difference equation representation for a continuously


operating system is

x(k+1) = 0.75 x(k) + u(k).

It is desired to bring the system state to the target set S defined by

0 <= x(2) <= 2

with minimum expenditure of control effort; i.e., minimize

J = u2(0) + u2(1)

The allowable state and control values are constrained by

0 <= x(k) <= 6

-1 <= u(k) <= 1

Quantize the state values into the levels x(k) = 0,2,4,6 for k=0,1,2 and the
control values into the levels u(k)=-1,-0.5,0,0.5,1 for k=0,1.

(a) Find the optimal control values and the minimum cost for each point on
the state grid . Use linear interpolation.
(b) What is the optimal control sequence {u*(0),u*(1)} if x(0)=6 ?

Solution:

First we consider a zero-stage process .If the point x(2) does not lie in the
target set, we assign a very large cost, say 1025, to this point.

STATE VALUE COST


x(2) J*2,2(x(2))
25
6 10
4 1025
2 0
0 0

Next consider a 1- stage process with J*1,2(x(1)) = u2(1). Looking at the state
equations , it is apparent that positive control values will move the system
away from the target set and add to the cost; therefore , only non-positive
values of control will be tried. Of course, if a computer were being used, it
might be just as well to include the positive control values, rather than
complicate the programming required.

State Control Next Min. cost Min. cost Opt.


value value u(1) state assuming J*1,2(x(1)) control
*
x(1) x(2) u(1)applied u (x(1),1)
*
C 1,2(x(1),u(1))
6 0 4.5 0 1025 None,
-0.5 4 0.25 + 1025 _ target set
-1 3.5 1 1025 not
reachable
4 0 3 0 1025
-0.5 2.5 0.25 + 1025 1 -1
-1 2 1 1025
2 0 1.5 0 0
-0.5 1 0.25 + 0 0 0
-1 0.5 1 0
0 0 0 0 0
-0.5 NA _ + _ 0 0
-1 NA _ 0

Next , we calculate J*0,2(x(0))

x(0) u(0) x(1) C*0,2(x(0),u(0)) J*0,2(x(0)) u*(x(0),0)


6 0 4.5 _ -0.5
-0.5 4 0.25 + 1 1.25
-1 3.5 1 0.75
4 0 3 0 0.5
-0.5 2.5 0.25 +0.25 0.5 0 or -0.5
-1 2 1 0
2 0 1.5 0 0
-0.5 1 0.25 + 0 0 0
-1 0.5 1 0
0 0 0 0 0
-0.5 NA 0.25 + _ 0 0
-1 NA 1 0

x(0)=6.u*(6,0)=-0.5.x(1) = 4. u*(4,1)= -1.x(2)=2

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