Jakub Nemcik - Academia.edu (original) (raw)
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Optimal control (OC) is the process of determining control and state trajectories for a dynamic s... more Optimal control (OC) is the process of determining control and state trajectories for a dynamic system in order to achieve a given performance index. Most real-world optimal control problems (OCP) are too large and complex to be solved analytically as typically the dynamics is nonlinear and there are predefined constraints governing the allowed behavior of the system. The motivation of this paper is to give a brief overview of some ready-to-use numerical software tools available on the market and capable of solving optimal control problems. It summarizes their basic properties such as licensing policy and approach, and also the general formulation of OCP common for the described tools. As the optimal control uses an extensive theory with many approaches and methods for software implementation, the interest is reduced and focused on finding a feed-forward control signal as a solution of a deterministic continuous-time OCP over a fixed time interval, using Matlab-based third party toolboxes. The paper presents a particular case study which compares chosen numerical software tools in terms of achieved results and computational performance. This is done for a mathematical model of a single pendulum on the cart which represents a highly complex and nonlinear system that is suitable to be used as a benchmark.
Optimal control (OC) is the process of determining control and state trajectories for a dynamic s... more Optimal control (OC) is the process of determining control and state trajectories for a dynamic system in order to achieve a given performance index. Most real-world optimal control problems (OCP) are too large and complex to be solved analytically as typically the dynamics is nonlinear and there are predefined constraints governing the allowed behavior of the system. The motivation of this paper is to give a brief overview of some ready-to-use numerical software tools available on the market and capable of solving optimal control problems. It summarizes their basic properties such as licensing policy and approach, and also the general formulation of OCP common for the described tools. As the optimal control uses an extensive theory with many approaches and methods for software implementation, the interest is reduced and focused on finding a feed-forward control signal as a solution of a deterministic continuous-time OCP over a fixed time interval, using Matlab-based third party toolboxes. The paper presents a particular case study which compares chosen numerical software tools in terms of achieved results and computational performance. This is done for a mathematical model of a single pendulum on the cart which represents a highly complex and nonlinear system that is suitable to be used as a benchmark.