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14th Southern California Nonlinear Control Workshop
Adjoint-based
Model Predictive Control and Identification of Switched Nonlinear
Systems
Sean
Summers, UCSD
Advisor: Tom Bewley
Advisor: Tom Bewley
We
present a new, user friendly, easily extensible Matlab toolbox, MPDopt,
for adjoint-based trajectory optimization, parameter identification,
and linear feedback stabilization in both smooth nonlinear systems as
well as systems in which the governing equation "switches'' when
the system changes operational modes. The code features automatic
generation of the requisite state and adjoint solvers from the
governing ODE's provided in symbolic form.