Analytic design of constrained control laws for nonlinear dynamic systems with symmetric and asymmetric limits

Abstract

In this article, we formulate and investigate dynamic optimisation of systems with control limits. Aerial, electronic, electromechanical, mechatronic and robotic systems exhibit symmetric and asymmetric bounds. Applying a Hamiltonian optimisation, and, minimisation of specified-by-constraints nonquadratic performance functionals result in analytically designed bounded control laws. Closed form solution of an optimisation problem is found. Continuous control algorithms ensure consistency to physical systems and homogeneous performance. Findings in dynamic optimisation and constrained control are analytically, numerically and experimentally substantiated. Experimental studies and results are documented for a dc-dc switching regulator and permanent-magnet synchronous motor.