HyperSensitive

HyperSensitive

This problem can be found here.

Packages that will be used

using NLOptControl

Define the Problem:

n=define(numStates=1,numControls=1,X0=[1.5],XF=[1.])

Differential Equations

dx=[:(-x1[j]^3+u1[j])]
dynamics!(n,dx)

Configure the Problem:

configure!(n;(:Nck=>[3,3,3,3,3,3,3,3,3,3,3,3]),(:finalTimeDV=>false),(:tf=>10000.0))

Objective Function

obj=integrate!(n,:( 0.5*x1[j]^2 + 0.5*u1[j]^2) )
@NLobjective(n.ocp.mdl,Min,obj);

Optimize

optimize!(n);

Post Process

plotSettings(;(:size=>(1200,1200)));
allPlots(n)
0 2000 4000 6000 8000 10000 0.0 0.5 1.0 1.5 time (s) x1 mpc 0 2000 4000 6000 8000 10000 0 1 2 3 time (s) u1 mpc