Controller architectures: Tradeoffs between performance and structure

This review article describes the design of static controllers that achieve an optimal tradeoff between closed-loop performance and controller structure. Our methodology consists of two steps. First, we identify controller structure by incorporating regularization functions into the optimal control...

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Bibliographic Details
Published in:European journal of control 2016-07, Vol.30, p.76-91
Main Authors: Jovanović, Mihailo R., Dhingra, Neil K.
Format: Article
Language:English
Subjects:
Algorithms
Communication
Control theory
Controller architecture
Controllers
Convex optimization
Design
Distributed control
Drug dosages
Dynamical systems
Feedback
Networks of dynamical systems
Non-smooth optimization
Performance vs. complexity
Regularization
Sensors
Sparsity
Sparsity-promoting optimal control
Structure identification
Structured optimal control
System theory
Unmanned aerial vehicles
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Summary:This review article describes the design of static controllers that achieve an optimal tradeoff between closed-loop performance and controller structure. Our methodology consists of two steps. First, we identify controller structure by incorporating regularization functions into the optimal control problem and, second, we optimize the controller over the identified structure. For large-scale networks of dynamical systems, the desired structural property is captured by limited information exchange between physical and controller layers and the regularization term penalizes the number of communication links. Although structured optimal control problems are, in general, nonconvex, we identify classes of convex problems that arise in the design of symmetric systems, undirected consensus and synchronization networks, optimal selection of sensors and actuators, and decentralized control of positive systems. Examples of consensus networks, drug therapy design, sensor selection in flexible wing aircrafts, and optimal wide-area control of power systems are provided to demonstrate the effectiveness of the framework.
ISSN:0947-3580
1435-5671
DOI:10.1016/j.ejcon.2016.05.003