The introduction is intended for someone acquainted with ordinary. Pdf introduction to optimal control theory researchgate. Another important aspect of using optimal control theory in biological systems is to identify the drug or the combination of drugs that are effective in regulating a given therapeutic target, i. Once the optimal path or value of the control variables is found, the. The report presents an introduction to some of the concepts and results currently popular in optimal control theory. Optimal control theory is a branch of applied mathematics that deals with finding a control law for a dynamical system over a period of time such that an objective function is optimized. Pdf an introduction to optimal control researchgate. Optimality models in motor control, promising research directions. Pdf introduction to control theory including optimal. The aim of these notes is to give an introduction to the theory of optimal control for finite dimensional systems and in particular to the use of the pontryagin maximum principle towards the. Introduction to optimal control theory download ebook. This site is like a library, use search box in the widget to get ebook that you want. For example, the dynamical system might be a spacecraft with controls corresponding to rocket thrusters, and the objective might be to reach the. The approach di ers from calculus of variations in that it uses control variables to optimize the functional.
It has numerous applications in both science and engineering. Geared toward upperlevel undergraduates, this text introduces three aspects of optimal control theory. An introduction to mathematical optimal control theory version 0. In section 1, we introduce the definition of optimal control problem and give a simple example. These are lecture notes of the introductory course in optimal con trol theory treated from the geometric point of view. Duality of optimal control and optimal estimation including new results. Introduction to the mathematical theory of control by alberto. We introduce the variables qt position at time t vt. In section 2 we recall some basics of geometric control theory as. Let x 2xdenote the state of an agents environment, and u 2ux the action or control which the agent chooses while at state x. Introduction to optimal control theory and hamiltonjacobi equations. Imagine a railroad car powered by rocket engines on each side.
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