A Construction Method of Optimal Control Input Sequence based on Input-Output Data

Convex Programming Approach

Abstract

This paper proposes a new model-free control input design method for systems with input saturation by using a convex programming technique. This method yields the optimal control input sequence, which achieves approximate trajectory tracking subject to input saturation, from input-output data without using any plant model. Furthermore, we extend the method to the two-degree-of-freedom control case in order to enjoy the merits of feedback control. The effectiveness of the proposed method is demonstrated by numerical examples.