Simultaneous Optimal Design of Structure and Control Systems Based on Youla Parameterization.

Abstract

This paper deals with simultaneous optimal design of structure and control systems. For structures with collocated sensors and actuators, a stabilizing statefeedback gain and an estimator gain can be obtained easily. Using these two gain matrices, we can parameterize all stabilizirlg controllers for the structure by Youla parameterization scheme. Since stability of the closed-loop system is guaranteed, we can optimmize design parameters in the structure and the controller simultaneously without taking two-step design procedures which consist of the step for controller synthesis and that for structural parameter tuning. Hence, convergence to the local optima is achieved with standard descent-based nonlinear optimization techniques (steepest descent, Newton method, etc. ). By a design example, we show the effectiveness of proposed design method.