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Solving optimal control problems with state constraints using nonlinear programming and simulation tools

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1 Author(s)
Becerra, V.M. ; U.K. Dept. of Cybern., Univ. of Reading, UK

This paper illustrates how nonlinear programming and simulation tools, which are available in packages such as MATLAB and SIMULINK, can easily be used to solve optimal control problems with state- and/or input-dependent inequality constraints. The method presented is illustrated with a model of a single-link manipulator. The method is suitable to be taught to advanced undergraduate and Master's level students in control engineering.

Published in:

Education, IEEE Transactions on  (Volume:47 ,  Issue: 3 )

Date of Publication:

Aug. 2004

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