Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription
25 Feb 2013
A toolbox for using Direct Transcription to perform combined plant and control design.
% A System is essentially an ODE system, it must implements a derivative method
% that takes t, x, x_d as inputs. The state vector includes the control input,
% ksi = [ x; u]. In addition, the system must also provide state Jacobian, design
% Jacobian, constant parameters (if any) and external inputs.
% These properties are handles of the functions that defines the
deriv % dx = f(t,x, x_d, parameters)
% Until automatic differentiation is available, we require that
% the user provide analytic Jacobians.
% state Jacobian
jacobian % dx = d f/d x(t,x, x_d, parameters)
% design variable Jacobian
jacobian_d % dx_d = d f/d x_d(t,x,x_d, parameters)
% Parameters are the variables excluding design variable and state
% variables. These usually include constants used in the equations.
parameters % constant parameters needed
% Input are external input, e.g., reference inputs. Note that these
% input are *not* control inputs.
input % u = g(t)