TY - BOOK
T1 - Optimization of Controller Parameters in Julia using ControlSystems.jl and Automatic Differentiation
AU - Bagge Carlson, Fredrik
PY - 2019/3/6
Y1 - 2019/3/6
N2 - We describe how to utilize the possibility of differentiating through arbitrary Julia codeto perform tasks such as controller optimization. The user specifies a cost function, forexample, the integrated squared error between output and reference, and constraints, suchas a maximum acceptable value of the sensitivity function. Julia performs the integrationand calculates the sensitivities of the cost and constraint functions with respect to controllerparameters automatically, using automatic differentiation. We conclude with a full exampleincluding gradient-based optimization of the cost function. All code required is open-sourceunder permissive licenses.
AB - We describe how to utilize the possibility of differentiating through arbitrary Julia codeto perform tasks such as controller optimization. The user specifies a cost function, forexample, the integrated squared error between output and reference, and constraints, suchas a maximum acceptable value of the sensitivity function. Julia performs the integrationand calculates the sensitivities of the cost and constraint functions with respect to controllerparameters automatically, using automatic differentiation. We conclude with a full exampleincluding gradient-based optimization of the cost function. All code required is open-sourceunder permissive licenses.
M3 - Report
T3 - Technical reports TFRT-7656
BT - Optimization of Controller Parameters in Julia using ControlSystems.jl and Automatic Differentiation
PB - Department of Automatic Control, Faculty of Engineering LTH, Lund University
ER -