# Questions tagged [optimal-control]

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### What is the relationship between classical control: transfer functions/frequency domain and the swing-up problem of an inverted pendulum

I am still pretty new to control theory, but I have been studying both classical and modern state space/optimal control ideas. I am having trouble understanding what the frequency domain/transfer ...
• 105
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### Cost/Objective Function Normalization (MPC)

I am trying to develop an MPC. In this MPC, I predict the temperature and try to bring the sensor value to the desired setpoint temperature. I predict the temperature in the next 180 minutes for the ...
37 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, ...
• 101
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### 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 ...
65 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. ...
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### 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 ...
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### 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' ...
1 vote
114 views

### $\mathcal H_2$ norm for LTV system

Preliminary: Consider a stable, strictly causal discrete-time LTI system with state-space model $\left[\begin{array}{c|c} A & B\\ \hline C & \pmb{0} \end{array}\right]$. ...
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### How do I make a attitude trajectory of a satellite so the attitude always points towards a point on earth given its current orbital position?

Let us say there is an antenna on earth and I have a satellite in an orbit how do I make the trajectory (not control, so body velocities of the satellite) to make it point toward the earth when it is ...
33 views

### Modelling an S-shaped Second Order Process Response

I am trying to model an S-shaped second order process response as a transfer function in Simulink, as shown in figure 3 in the linked article. Ideally the response should be overdamped. I have tried ...
47 views

### Block-diagram combining two controlled subsystems

I have two subsystems which are shown in the picture below. One of them is a system of stable and controlled differential equations of a mechanical system. Second is a block that implements a function ...
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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 ...
• 115
1 vote
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### 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
65 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 ...
• 115
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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 ...
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