Solving optimal control problems with state constraints using nonlinear programming and simulation tools

Becerra, V. M. (2004) Solving optimal control problems with state constraints using nonlinear programming and simulation tools. IEEE Transactions on Education, 47 (3). pp. 377-384. ISSN 0018-9359 doi: 10.1109/te.2004.825925

Abstract/Summary

This paper illustrates how nonlinear programming and simulation tools, which are available in packages such as MATLAB and SIMULINK, can easily be used to solve optimal control problems with state- and/or input-dependent inequality constraints. The method presented is illustrated with a model of a single-link manipulator. The method is suitable to be taught to advanced undergraduate and Master's level students in control engineering.