Abstract
AbstractWe propose a dynamic optimization approach to calculate optimal feedforward controls for exact path-following problems of differentially flat systems. In addition to the derivation of a small dimensional optimal control problem, we provide easily checkable conditions on the existence of inputs guaranteeing that a given path is exactly followable in the presence of constraints on states and inputs. Our approach is based on the projection of the feedforward controlled nonlinear MIMO dynamics along a geometric path onto a linear single-input system in Brunovský normal form. The presented results indicate how the computation of admissible trajectories for set-point changes can be simplified by relying on so called steady state consistent paths. The set-point change of a Van der Vusse reactor is considered as an example.
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