Optimal control of non-linear hybrid systems under model-reality differences - Decomposition and hierarchical structure

A technique is described for solving a non-linear optimal problem when the model dynamic equations, model performance index and model terminal constraints are all different from reality. The technique is designed to achieve the correct solution of the real optimal control problem in spite of these model-reality differences. A hybrid approach with a discrete performance index and continuous state variable system description is used as the basis of the design, and it is shown how the global problem can be composed in local sub-system problems and a co-ordinator within a hierarchical framework. Copyright (C) 1998 IFAC.