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OPEN LOOP HIERARCHICAL CONTROL
The application of the Goal Coordination Approach to
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algorithm assumed boundary value problem calculated Chapter closed loop control coefficient consider control law control trajectories convergence coordination vector cost function costate equation covariance decentralised defined described dimensional dual function duality dynamical systems error example feedback control given by equations Goal Coordination method gradient Hamiltonian hierarchical control initial conditions input interaction Kalman filter Lagrange Duality Lagrange multiplier Lagrangian large scale systems level algorithm linear linear-quadratic matrix maximise multiplications non-linear systems obtained off-line on-line open loop control optimal and suboptimal optimal control optimal solution optimisation problem optimum output thickness overall system performance point boundary value possible practical prediction principle quadratic R5 output temperature reach reduction pattern Riccati equation roughing process Section serial systems shown in Fig singular solution slab solved stand strategy suboptimal control subproblems subsystem Tamura Taylor series tion variables whilst zero