Design and Sensitivity Analysis of Constrained Finite Time Optimal COntroller for a Micro-Actuator

In this article a design and a sensitivity analysis is being performed towards the constrained finite time optimal control (CFTOC) problem of a non-linear micro-actuator's model, whose one plate is clamped while its other plate's motion is constrained by hinges acting as a combination of springs and dashpots. The distance of the plates is varied by the applied voltage between them. The flexibility of the moving plate coupled to the dynamics of the plate's rigid body motion results in an unstable, nonlinear system of distributed nature. The controller is composed of: a) a feedforward term for regulation at selected setpoints, and b) a CFTO-controller to handle any deviations from the equilibrium. Multiple CFTO-controllers are being designed and applied to the non-linear system, and the sensitivity of the control action is tested towards the constraints, the prediction horizon, and the embedded uncertainty in the system, through extensive simulated test cases