| Preface |
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xi | |
| Acknowledgments |
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xiii | |
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Chapter 1 Mathematical Background and Optimal Problem Modeling |
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1 | (34) |
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1 | (1) |
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1.2 Optimal Control in Engineering |
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2 | (1) |
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1.3 Controller Design Concepts |
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3 | (1) |
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1.4 Finite Dimensional Optimization---A Mathematical Review |
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4 | (5) |
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1.5 Optimal Problem Modeling |
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9 | (26) |
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30 | (2) |
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32 | (3) |
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Chapter 2 Controller Design Based on Parameter Optimization |
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35 | (60) |
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35 | (1) |
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35 | (6) |
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2.3 Preliminary Design Concept - The Inward Approach |
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41 | (3) |
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2.4 Parameter Optimization Design - Outward Approach |
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44 | (11) |
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2.5 Limitations of Parameter Optimization |
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55 | (9) |
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2.6 Parameter Optimization with Constraints |
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64 | (6) |
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2.7 Control Vector Parameterization |
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70 | (5) |
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2.8 Parameters Optimization via Genetic Algorithms |
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75 | (20) |
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79 | (5) |
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84 | (10) |
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94 | (1) |
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Chapter 3 Calculus of Variations |
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95 | (30) |
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95 | (1) |
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95 | (2) |
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3.3 Standard Problem Statement |
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97 | (10) |
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3.4 Transverzality Conditions |
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107 | (6) |
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3.5 Extreme Functional with Dynamic Constraints |
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113 | (12) |
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118 | (6) |
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124 | (1) |
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Chapter 4 Optimal Control Based on Calculus of Variations |
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125 | (66) |
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125 | (1) |
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125 | (2) |
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4.3 Statement of Optimal Control Problem |
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127 | (5) |
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4.4 Necessary Conditions of Optimality |
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132 | (13) |
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4.5 Terminal Controllers and Regulators |
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145 | (10) |
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4.6 Terminal Constraints and Variable Terminal Time |
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155 | (9) |
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4.7 Approximate Optimal State-Feedback Control |
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164 | (3) |
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4.8 Numerical Solution Using MATLAB TBVP Solver |
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167 | (24) |
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176 | (7) |
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183 | (6) |
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189 | (2) |
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Chapter 5 Optimal Control with Input and State Variable Constraints |
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191 | (68) |
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191 | (1) |
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5.2 Input Constraints Optimization |
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191 | (2) |
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5.3 Pontryagin's Principle |
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193 | (4) |
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197 | (14) |
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5.5 Minimum Control-Effort Problems |
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211 | (19) |
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230 | (12) |
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5.7 Inequality Constraint of Pure State Variable |
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242 | (17) |
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250 | (5) |
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255 | (3) |
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258 | (1) |
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Chapter 6 Dynamic Programming |
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259 | (56) |
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259 | (1) |
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6.2 Multi-Stage Decision Problem and Principle of Optimality |
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259 | (2) |
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6.3 A Simple Control Problem in Discrete-Time |
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261 | (8) |
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6.4 Continuous Form of Dynamic Programming |
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269 | (11) |
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280 | (9) |
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289 | (1) |
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6.7 Differential Dynamic Programming DDP |
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290 | (25) |
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300 | (6) |
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306 | (7) |
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313 | (2) |
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Chapter 7 Linear-Quadratic (LQ) Optimal Control |
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315 | (72) |
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315 | (1) |
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7.2 Types of Optimal Control Problems |
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315 | (1) |
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7.3 Optimal Solution of the State Regulating Problem |
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316 | (7) |
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7.4 Selection of the Q and R Matrices |
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323 | (5) |
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7.5 Optimal Solution of the Output Regulating Problem |
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328 | (7) |
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7.6 Optimal Solution of the Tracking Problem |
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335 | (13) |
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7.7 Equivalent Quadratic Cost Functional |
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348 | (5) |
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7.8 Solution Based on Hamiltonian Matrix for Invariant Systems |
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353 | (7) |
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7.9 Discrete-Time LQ Optimal Control |
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360 | (7) |
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7.10 Iterative LQ for Nonlinear Systems |
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367 | (20) |
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372 | (7) |
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379 | (6) |
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385 | (2) |
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Chapter 8 Optimal Solution Based on Genetic Programming |
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387 | (32) |
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387 | (1) |
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8.2 Genetic Programming Review |
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387 | (4) |
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8.3 Enhanced Genetic Programming |
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391 | (13) |
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8.4 Synthesizing Input Constraints Optimal Control Problem |
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404 | (15) |
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416 | (1) |
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417 | (2) |
| Index |
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419 | |
