# Questions tagged [optimal-control]

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### Interpretation of costate in fixed-endpoint problem

Consider an optimal control problem with no salvage value fixed endpoint state In this case, the transversality condition of the costate at the endpoint is not needed to solve the problem, since we ...
47 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 ...
31 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 ...
1 vote
129 views

### simulation of an attitude optimal Backstepping controller based quaternion for a UAV in MATLAB

I'am trying to implement this open access research article Attitude Optimal Backstepping Controller Based Quaternion for a UAV I did not find the same result in this paper Can anyone tell me where my ...
35 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 ...
1 vote
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1 vote
55 views

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

In the following publication ...
1 vote
77 views

### 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
189 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 ...
626 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 ...
3k views

### Replacing PID with Lead–lag compensator?

I have a vehicle (I bought it and it proprietary and I have no information about any internals) which I want to integrate into my simulation environment. So far I have a physical model of it which I ...
640 views

### Stability of the optimal control law

in linear optimal control,linear quadratic regulator,we have a system of the form: x=Ax+Bu,the optimal control law U is a state feedback,it's a function of the riccati equation solution and the state ...
4k views

### Open loop versus closed loop Model Predictive Control

I hear a lot about open loop and closed loop Model Predictive Control (MPC). What is the difference between an open loop MPC and a closed loop MPC? Any block diagram demonstrating the difference is ...
68 views

### How to solve LMIs with equality constraints using MATLAB?

I would like to find n by n matrices P and Q that minimize J = norm(P) + w*norm(Q), where w is a given weight, subject to P>=0, Q>=0, and f(P,Q)=0, where f(P,Q)=0 is a given function of P and R. I ...
169 views

### LQR vs. Numerical Optimal Control

I'm a little confused by the differences between LQR control and numerical optimal control (such as direct multiple shooting, direct collocation and pseudospectral optimal control). It seems that LQR ...
1 vote
118 views

### Layout of a controller for controlling a water pump

I'm currently writing a simulation environment in python/c for heat networks and got to the point where I'm implementing the controls for the environment. The PID controller is already implemented and ...