Online suboptimal control of linearized models

Abstract

A novel approach to approximately solving the restricted-control LQR problem online is substantiated and applied in two case-studies. The first example is a one-dimensional system whose exact solution is known. The other one refers to the temperature control of a metallic strip at the exit of a multi-stand rolling mill. The new (online-feedback) strategy employs a convenient version of the gradient method, where partial derivatives of the cost are taken with respect to the final penalization matrix coefficients and to the switching times where the control (de)saturates. The calculations are based on exact algebraic formula, which do not involve trajectory simulations, and so reducing in principle the computational effort associated with receding horizon or nonlinear programming methods.