Iterative Optimal Control of Liquid Slosh in an Industrial Packaging Machine

Mattias Grundelius

Research output: Chapter in Book/Report/Conference proceedingPaper in conference proceedingResearch

36 Citations (SciVal)
108 Downloads (Pure)


Presents an iterative approach to optimal control when modeling errors are present. The problem considered is movement of open containers containing liquid in an industrial packaging machine. The goal is to move as fast as possible without too much slosh. There is no measurement of the slosh available in the machine, therefore open loop control via the acceleration reference is the only possibility to control the slosh. However it is possible to measure the slosh in an experimental testbed. This can be used to determine offline the acceleration reference. An algorithm for iterative optimal control is derived that uses experimental data to refine the solution of the optimal control problem
Original languageEnglish
Title of host publicationProceedings of the 39th IEEE Conference on Decision and Control, 2000.
PublisherIEEE - Institute of Electrical and Electronics Engineers Inc.
ISBN (Print)0-7803-6638-7
Publication statusPublished - 2000

Publication series


Subject classification (UKÄ)

  • Control Engineering


  • adaptive control
  • discrete time systems
  • packaging
  • optimal control
  • learning systems linear systems
  • vibration control
  • position control


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