Optimal
Design of Plant and Controller
University
of Michigan
Department
of Mechanical Engineering
Abstract: Traditionally a plant is first
designed, and then its controller.
This sequential design approach, although not system-optimal, can often
give good results. We consider the optimal design problems for sequential
design of a plant and then its controller, as well as the simultaneous
optimization of the plant-controller system. By comparing the resulting optimality conditions for a
linear-quadratic optimal design problem, we can identify a "coupling
term" that quantifies the difference between the sequential and
simultaneous design approaches.
Thus, when the coupling term is small, the sequential design of the
plant then the controller can be expected to give good results. We consider the cases with full state
feedback as well as with state estimation. Design of a passive-active automotive suspension is used as
an example problem to illustrate the results.
3:30 – 4:30
p.m.