# Questions tagged [optimal-control]

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### Optimizing Kp Value in P Control

I have a question about a control-related problem I'm facing. Problem: I have a total of 10 furnaces, each equipped with hoses for injecting water to lower the temperature. These 10 furnaces need to ...
25 views

### Some questions about model predictive control (MPC)

I have some questions about model predictive control (MPC) How does MPC use a system's model to forecast its future response? How do model uncertainties and mismatches affect the performance of MPC, ...
20 views

### Seeking example problems solved using Automated Design Synthesis (ADS) algorithms

Premises. Gary N. Vanderplaats and coworkers at the Naval Postgraduate School in Monterey, California developed the Automated Design Synthesis (ADS) algorithms (software) that have been adapted to ... 30 views

### How to implement H-infinity controller in STM32 platform?

I used matlab to simulate some H infinity controllers, and I have some understanding of the related theory. But I don't know how to implement H-infinite controller on STM32 platform using C/C++ code. ...
22 views

### Entire Complex Function for dynamical systems

I am working on my master Thesis and I was going through this Thesis : https://scholarship.rice.edu/bitstream/handle/1911/89289/RICE0327.pdf?sequence=1&isAllowed=y Here, the author computes the ...
17 views

### Inverted pendulum LQR controller using motor

In my lab, I am trying to balance an inverted pendulum using simple LQR. To balance the arm I am using a DC motor. Now I have the A,B,C,D matrices. Using those I am able to find the feedback gain 'K' ...
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### LQR control effort / control bandwidth relationship

I'm working with a linear system, having given matrices A and B $$A = \left[\begin{array}{cc} 0 & 1 \\ -0.9 & 0 \end{array}\right]$$ $$B = \left[\begin{array}{c} 0 \\ 2 \end{array}\right]$$ ...
71 views

### Why do we need state feedback in the H-infinity concept instead of output feedback?

I have faced control of a flexible manipulator which has a zero dynamic related to flexible parts dynamic. The zero dynamic states (generalized states) are not observable in the input-output dynamic ...
53 views

### Which way of solving from nonlinear control to choose?

I have a nonlinear system: \begin{cases} x'=f(x)+u \\ y=f(x) \end{cases} where $f(x)$ - gradient of some one-extremal function (for example $f=e^{-(x)^2}$), i.e. $\frac{df}{dx}$. Task: I want ...
42 views

### Optimal control of the gradient type PDE

I recently encountered the following optimal control problem. The purpose of the system is to find the parameter $x$ at which the maximum or minimum of the function $f$ a is reached. $x$ is unknown to ...
439 views

### How to convert a DC motor into a servo motor using a rotary encoder and a microcontroller?

Operating/ Rated Voltage: 24V No load Speed: 350 rpm No load Current: 150mA (max) Max efficiency: 1.4 Kg-cm/300 rpm/ 14.2W/ 0.87A Max power: 4.5 Kg-cm/180 rpm/28.2W/1.4A Stall Current: 2.9 A (max) ...
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### What does "analytical design" mean?

What is meant by "designing analytically" ? Especially in control systems design Does it mean theoretically design?
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1 vote
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### Using place command in MATLAB using different state representation

I had a transfer function $$\frac{10s+20}{s^3+10s^2+24s}$$ and I found the state space representation of the above using MATLAB. Using $place(A,B,[poles])$, I found a gain matrix K that corresponds ...
1k views

### Transfer function with cancellable zero pole and controllability

I have a transfer function (From Ogata's Modern Control Engineering) $$\frac{s+2.5}{(s+2.5)(s-1)}$$ and the theory says the system has a pole zero cancellation and is uncontrollable. They said that ...
735 views

### LQR control and system dynamics linearization

I recently finished a project that simulated the dynamics and control of a 6DOF quadcopter model using a state-space LQR control approach, but I had a few questions that I wanted to ask that might ...
1 vote
62 views

### Does open loop stability guarantee an MPC stability?

In the following publication ...
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### Does the controllability of nominal system imply the controllability of the actual uncertain system?

Given a system dynamics \begin{equation} \dot{x}=A(p)x+Bu, \end{equation} where $A(p)$ is the uncertain system state matrix with the nominal matrix being $A(p_0)$. The uncertainty in $A(p)$ ...
1 vote
134 views

### Extended Kalman Filter formulation

For a nonlinear system,  \begin{align} &{\boldsymbol x}(k+1)={\boldsymbol f}({\boldsymbol x}(k),{\boldsymbol u}(k),{\boldsymbol w}(k)) \\ &{\boldsymbol y}(k)={\boldsymbol h}({\boldsymbol x}(...
1 vote
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### Maximum MPC prediction horizon for an unstable plant

In the following book, Model Predictive Control ToolboxTM (User's Guide) Alberto Bemporad Manfred Morari N. Lawrence Ricker At page 1-6, it has been ...
1 vote
228 views

### Model Predictive Control and Numerical Integration Schemes

When simulating systems of ODEs, I'm used to always using a numerical integration scheme to propagate the equations forward in time, such as simple Euler integration or Runge-Kutta methods. However, ...
1 vote
61 views

### Are linear controllers inadequate for nonminimum phase systems?

Based on the following publication: Kouro, S., Perez, M.A., Rodriguez, J., Llor, A.M. and Young, H.A., 2015. Model predictive control: MPC's role in the evolution of power electronics. IEEE ...
954 views

What is the definition of anti-windup? How does it impose the constraints? What are the advantages of MPC and anti-windup over each other? Does anti-windup guarantee the constraints or does it just ...