An optimal PID controller design for nonlinear optimal control problems with continuous state inequality constraints
Date
2010
Authors
Teo, K.
Li, B.
Lim, C.
Duan, G.
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Conference paper
Citation
Proceedings of the International Conference on Optimization and Control (ICOCO2010), held in Guiyang China, July 18-23, 2010 / H. Xu, X. Yang and W. Wei (eds.): pp.645-652
Statement of Responsibility
Kok Lay Teo, Bin Li, Cheng-Chew Lim and Guang-Ren Duan
Conference Name
International Conference on Optimization and Control (2010 : Guiyang, China)
Abstract
In this paper, we consider an optimal PID control problem subject to continuous state inequality constraints. By applying the constraint transcription method, a local smoothing technique to these continuous state inequality constraint functions, we construct the corresponding smooth approximate functions. Then, by using the concept of the penalty function, these smooth approximate functions are appended to the cost function, forming a new cost function. Then, the constrained optimal PID control problem is approximated by a sequence of unconstrained optimal control problems. Each of which can be viewed and hence solved as an unconstrained nonlinear optimization problem. The gradient formula of the new appended cost function is derived, and a reliable computation algorithm is given.
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