Real-time outer and inner loop optimal control using DIDO

In this paper we design two levels of control structure, outer loop and inner loop control, to enhance the robustness of real-time optimal control. The optimal control is efficiently solved by a pseudospectral method using the code DIDO. An extended Kalman filter is used to estimate states to simulate real-time optimal control. The ways to improve computation speed are investigated. We use a classic constrained inverted pendulum problem to demonstrate our control approach. The results show the inverted pendulum can be stabilized very well in real-time using a commercial computer to perform all the computations.

Real-time outer and inner loop optimal control using DIDO Conference Paper