Real Time Optimization for Nonlinear Systems Using Algorithmic Controller

In this paper, a new on-line controller for nonlinear dynamical systems is proposed to realize controller realizes dynamic optimization in real time with closed loop control. The proposed method is algorithmic controller, which is based on the algorithms of numerical solutions of optimal control problems. The usefulness of the algorithmic controller is clarified by numerical simulations. Moreover, it is applied to a mechanical system whose fast-sampling is required, and the experimental results show the proposed controller works well in real time.