WORST-CASE OPTIMAL CONTROL FOR AN ELECTRICAL DRIVE SYSTEM WITH TIME-DELAY

This paper considers an optimal control developed for an electrical drive system with a DC motor. Since it is a linear control system with input time-delay subject to unknown but bounded disturbances, we construct a worst-case feedback control policy, which can guarantee that, for all admissible uncertain disturbances, the real system state should be in a prescribed neighborhood of a desired value at the given final time, and the cost functional takes the best guarantee value. The worst-case feedback control policy is allowed to be corrected at a given set of correction points between the initial and the final time, which is equivalent to solving a (m-1)-level min-max problem. Since the min-max problem at each stage does not yield a simple analytical solution, construction of the optimal policy is computationally prohibitive. This is why we consider an approximate control policy which is more convenient for computation. The simulation results illustrate that this proposed approach is feasible.