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

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

    Uploaded by

    alshifa
    30 views4 pages
    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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    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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    © All Rights Reserved
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    Download as docx, pdf, or txt
    30 views4 pages

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

    Uploaded by

    alshifa
    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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    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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