Towards Integrated Design of Plant/Controller With Application in Mechatronics Systems
Paper i proceeding, 2012
In this paper, a method is proposed for integrated design
of mechatronics systems. The integrated design problem is formulated
as a semi-definite programming optimization problem.
However, this is an infinite dimensional convex optimization
problem, which is hard to solve. In this paper, it is shown that
a vertex enumeration method can be used to transform the infinite
dimensional optimization problem into a finite dimensional
problem, which under the assumptions that the state space matrices
are affine function of structural variables and that the structural
variables belong to a polytope, can be solved efficiently. To
show the effectiveness of the method, the method is applied to a
mechatronics system.