Bridging the gap between open-loop and closed-loop control in co-design: A framework for complete optimal plant and control architecture design

Abstract

Here we propose a novel framework for the combined plant and controller architecture design based on a set of systematic studies that culminate in an optimal plant architecture and associated realizable control law. This framework bridges the inherent gap between open-loop optimal trajectories provided by particular co-design studies and practically implementable control laws. This is accomplished through a step-by-step process where a series of optimization problems are solved that provide important system insights such as maximum system performance limits, controller architecture, actuator selection, etc. at appropriate design phases. Each optimization problem thus informs subsequent formulations. This methodology is applied to semi-active suspension design.