SYMBOLIC COMPUTATION OF CONSTRAINED CONTROLLER

BISTÁK, P.; ŤAPÁK, P.

Abstract

This paper discusses the design of non-linear control using symbolic computation. Computer algebra system MAPLE has been used to demonstrate the benefit of symbolic solutions. Short example shows how to design constrained controller for double integrator in MAPLE. The first part of the paper shows the theory to the minimum time pole assignment control of double integrator with control signal constraints. The algorithm is based on modes decomposition, i.e. second order dynamics is decomposed into two first order ones. The basic of this approach has been shown in (Huba, 2003). Several basic commands in MAPLE (e.g. solving equations, matrix expressions evaluation, simplifying algebraic expressions, etc.) and common MAPLE syntax have been introduced in the step by step organized example. Each step of the example is illustrated by the MAPLE command with comments and design of the control is explained as well. Finally, as the verification of the designed control, several simulations have been shown.

Coresponding author e-mail: tapak[at]decef[dot]elf[dot]stuba[dot]sk

Session: Modelling, Simulation, and Identification of Processes