PROPT Singular Control 3: Difference between revisions
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Line 12: | Line 12: | ||
<math> J = x_3(t_F) </math> | <math> J = x_3(t_F) </math> | ||
subject to: | subject to: | ||
<math> \frac{dx_1}{dt} = x_2 </math> | <math> \frac{dx_1}{dt} = x_2 </math> | ||
<math> \frac{dx_2}{dt} = u </math> | <math> \frac{dx_2}{dt} = u </math> | ||
<math> \frac{dx_3}{dt} = x_1^2 + x_2^2 </math> | <math> \frac{dx_3}{dt} = x_1^2 + x_2^2 </math> | ||
The initial condition are: | The initial condition are: | ||
<math> x(0) = [0 \ 1 \ 0] </math> | <math> x(0) = [0 \ 1 \ 0] </math> | ||
<math> -1 <= u <= 1 </math> | <math> -1 <= u <= 1 </math> | ||
<source lang="matlab"> | <source lang="matlab"> |
Revision as of 08:12, 9 November 2011
This page is part of the PROPT Manual. See PROPT Manual. |
ITERATIVE DYNAMIC PROGRAMMING, REIN LUUS
10.2.3 Example 3
CHAPMAN & HALL/CRC Monographs and Surveys in Pure and Applied Mathematics
Problem Formulation
Find u over t in [0; 5 ] to minimize
subject to:
The initial condition are:
% Copyright (c) 2007-2008 by Tomlab Optimization Inc.
Problem setup
toms t
p = tomPhase('p', t, 0, 5, 60);
setPhase(p);
tomStates x1 x2 x3
tomControls u
% Initial guess
x0 = {icollocate({x1 == 0; x2 == 1; x3 == 0})
collocate(u == 0)};
% Box constraints
cbox = {-1 <= collocate(u) <= 1};
% Boundary constraints
cbnd = initial({x1 == 0; x2 == 1; x3 == 0});
% ODEs and path constraints
ceq = collocate({dot(x1) == x2
dot(x2) == u; dot(x3) == x1.^2 + x2.^2});
% Objective
objective = final(x3);
Solve the problem
options = struct;
options.name = 'Singular Control 3';
solution = ezsolve(objective, {cbox, cbnd, ceq}, x0, options);
t = subs(collocate(t),solution);
u = subs(collocate(u),solution);
Problem type appears to be: lpcon Time for symbolic processing: 0.08177 seconds Starting numeric solver ===== * * * =================================================================== * * * TOMLAB - TOMLAB Development license 999007. Valid to 2011-12-31 ===================================================================================== Problem: --- 1: Singular Control 3 f_k 0.753994561590099140 sum(|constr|) 0.000000015978036398 f(x_k) + sum(|constr|) 0.753994577568135590 f(x_0) 0.000000000000000000 Solver: snopt. EXIT=0. INFORM=1. SNOPT 7.2-5 NLP code Optimality conditions satisfied FuncEv 1 ConstrEv 43 ConJacEv 43 Iter 34 MinorIter 366 CPU time: 0.265202 sec. Elapsed time: 0.264000 sec.
Plot result
figure(1)
plot(t,u,'+-');
legend('u');
title('Singular Control 3 control');