Joint Optimization of Plant, Controller, and Sensor/Actuator Design
Raman Goyal, Robert E. Skelton · 2019
This paper presents a Linear Matrix Inequality (LMI) framework for selecting sensor and actuator precision jointly with the determination of control law and free structure parameters. The sub-optimal solution of this non-convex system design problem is found by iterating over an approximated convex problem through the use of a convexifying potential function which enables convergence to a local minimum. The authors believe this is the first time an integrated approach combining structure design, control law, and information architecture is developed to further advance the theory of system-level design optimization.