We consider the class of nonlinear optimal control problems with all data (differential equation, state and control constraints, cost) being polynomials. We provide a simple hierarchy of LMI-relaxations whose optimal values form a nondecreasing sequence of lower bounds on the optimal value. Preliminary results show that good approximations are obtained with few moments. CitationLAAS report … Read more
In this paper, we propose a new methodology for handling optimization problems with uncertain data. With the usual Robust Optimization paradigm, one looks for the decisions ensuring a required performance for all realizations of the data from a given bounded uncertainty set, whereas with the proposed approach, we require also a controlled deterioration in performance … Read more
We give a detailed numerical and theoretical analysis of a stabilization problem posed by V. Blondel in 1994. Our approach illustrates the effectiveness of a new gradient sampling algorithm for finding local optimizers of nonsmooth, nonconvex optimization problems arising in control, as well as the power of nonsmooth analysis for understanding variational problems involving polynomial … Read more
Using a moment interpretation of recent results on sum-of-squares decompositions of non-negative polynomial matrices, we propose a hierarchy of convex linear matrix inequality (LMI) relaxations to solve non-convex polynomial matrix inequality (PMI) optimization problems, including bilinear matrix inequality (BMI) problems. This hierarchy of LMI relaxations generates a monotone sequence of lower bounds that converges to … Read more
We consider a networked system defined on a graph where each edge corresponds to a quasilinear hyperbolic system with space dimension one. At the nodes, the system is governed by algebraic node conditions. The system is controlled at the nodes of the graph. Optimal control problems for systems of this type arise in the operation … Read more
In this survey we review the many faces of the S-lemma, a result about the correctness of the S-procedure. The basic idea of this widely used method came from control theory but it has important consequences in quadratic and semidefinite optimization, convex geometry and linear algebra as well. These were active research areas, but as … Read more
A new method for data-based fuzzy system modeling is presented. The approach uses Takagi-Sugeno models and Adaptive Simulated Annealing (ASA) to achieve its goal . The problem to solve is well defined – given a training set containing a finite number of input-output pairs, construct a fuzzy system that approximates the behavior of the real … Read more
We describe an implementation of an infinite-dimensional primal-dual algorithm based on the Nesterov-Todd direction. Several applications to both continuous and discrete-time multi-criteria linear-quadratic control problems and linear-quadratic control problem with quadratic constraints are described. Numerical results show a very fast convergence (typically, within 3-4 iterations) to optimal solutions CitationPreprint, May, 2004, University of Notre DameArticleDownload … Read more
We describe a complete solution of the linear-quaratic control problem with the linear term in the objective function on a semiinfinite interval. This problem has important applications to calculation of Nesterov-Todd and other primal-dual directions in infinite-dimensional setting. CitationTechnical report, University of Notre Dame, December, 2003ArticleDownload View PDF
Consider a real polynomial $p$ and a semi-algebraic subset $S$ of the complex plane, defined by finitely many polynomial inequalities $g_k(z,\bar{z}) \geq 0$ for some complex polynomials $\{g_k\}$. We provide necessary and sufficient conditions on the coefficients of $p$ for the zeros of $p$ to be in $S$. CitationIEEE Trans. Automatic Control 49 (2004), pp. … Read more