FBMMM-742 APPLIED OPTIMAL CONTROL

FINAL (Delivery Date: 05 June 2020)

QUESTION 1: [Adapted from Problem 6.6-5 in the book of DG Schultz and JL Melsa's State
Functions and Linear Control Systems, McGraw-Hill-1967.]
tf
 g  x, u, t  dt  A
ti
A method that includes the isoperimetric delimiter is defined by a new
state variable as follows,
tf
xn 1   g  x , u ,  d
ti

x  g  x, u , t  x t  0 x t   A
So a new variable n 1 defined as n 1 i and n 1 f issued with two
new boundary conditions.

Using this technique, find the optimal control for the system below.

0 1 0
x    x   u
 1 1 1 

1 
T x  0    2
This system 0
u dt  10 2

this optimal control system   will transfer from the initial

condition to the origin in minimum time.
T
P.I   dt
Performance index: 0 It shaped.

QUESTION 2:

0 1  0
x    x  1  u
0 0   

x T  0    1 1 x T  1   0 0
Initial conditions for the linear system and the last terms It is
u0  t  x 0  t  x2 0  t 
given as. optimal control and 1 , Find optimal conditions for the following
conditions that will minimize the given performance index.
1
P.I.   u 2 dt
0

u0  t 
a) with no limiters on it,
 u0  t  u t  9
b) over when it's limiting.

QUESTION 3: [Adapted from Problem 6.6-6 in the book of DG Schultz and JL Melsa's State
Functions and Linear Control Systems, McGraw-Hill-1967.

x T  0    2 2 u t 1
For the linear system, x  Ax  bu in the equation A  A  0 , and
It is given as.
u0  t 
a) Minimizes the performance index below show that the control is not a single
(not unique).
T
P.I.   u  t  dt
0

u0  t 
b) Minimum performance index above Show that the control also has the smallest
T value, minimizing the performance index below.
T
P.I.   dt
0

QUESTION 4: (Optimal Control Theory-An Introduction, adapted from Donald Kirk's book)
Performance measurement of a system is given as follows.
4
J    x  t   1  x  t   1 2dt
2

Boundary conditions for this system: x  0   0 and x  4   2 d.

a) Extremal (tip) for performance measurement given without any corner x  t  Find.
*

x*  t  Plot the graph by time.

b) Extremal (tip) for performance measurement with two corners x  t  Find. x  t 

* *

Plot the graph by time.

QUESTION 5: The water requirement will be provided by adding capacity to some sections
of the existing pipe network (marked I) for a new village. The pipe network connects three
reservoirs (marked A, B and C) and five sources (marked D, E, F, G and H) in the direction of
flow towards the village. The price of the required capacity added to each compartment is
shown in the figure below. Arrows show the direction of flow.
 a)Using the dynamic programming technique, write a statement that gives the cheapest
way and price that will direct the reservoir resource to the new village for each reservoir and
each resource. Describe all these prices.
b)If all reservoirs and resources are to be used at the same time, draw a tree showing
the parts to be added at the minimum price on the figure (ie create a connection network
without creating a closed loop). (Hint: It should be noted that such a tree should not contain
any partitions and these partitions should not be created at all).

QUESTION 6: Consider the first degree system below.

x  k  1   x  k   u  k 

u o  k   u o  x  k  , k 
Here x k  X  3,  2,  1, 0, 1, 2, 3 d.
  k  0, 1 için
It is desired to
obtain an optimal input sequence rule. At the same time, optimal conditions that will

xo  k  k  0, 1, 2 için
minimize the following performance index, It is desired to be
obtained.
1
J  x  2     x  k   u  k  
k 0

a) This problem k  0 and k  1 Complete the table below to solve. Here J 2  x  2 

d.

b) Give the optimal solution for the following boundary conditions.

I) x  0   3 and x  2   serbest

ii) x  0   serbest and x  2   0 for

 c) Generally, discuss the uniqueness of the solutions.

QUESTION 7: The optimal control problem for the given system below
0 1  0
x    x   u
0 0  1 
and let's consider the performance index.
3
P.I.    4 x12  u 2  dt
0

a) Suitable differential equations representing the dynamics of the system t  1 Show

that they are as follows.
x1  k  1  x1  k   x2  k 

x2  k  1  x2  k   u  k 

için optimal conditions x  k 

o
b) Using dynamic programming k  0,1, 2,3 and

u0  k  x1  0   x2  0   1
optimal input define so that system states From the

x1  3  x2  3  0
Transfer optimally to.
u o  k o  t  x
c) A linear optimal system Optimal state feedback coefficient vector that

k0  t
will drive all initial states to origin when operated with Define the analytical

k0  t
expression for the elements of. Plot each element of the optimal state feedback
coefficient vector for time.
d) Repeat option (c) for the performance index below.

P.I.    4 x12  u 2  dt
0