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Optimization of Controller Parameters in Julia using ControlSystems.jl and Automatic Differentiation

Bagge Carlson, Fredrik LU (2019) In Technical reports TFRT-7656
Abstract
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.
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author
organization
publishing date
type
Book/Report
publication status
published
subject
in
Technical reports TFRT-7656
pages
11 pages
publisher
Department of Automatic Control, Faculty of Engineering LTH, Lund University
ISSN
0280-5316
language
English
LU publication?
yes
id
f4f17a37-8f73-47b5-8017-6988f257432b
date added to LUP
2019-03-06 12:18:25
date last changed
2021-04-15 13:48:26
@techreport{f4f17a37-8f73-47b5-8017-6988f257432b,
  abstract     = {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.},
  author       = {Bagge Carlson, Fredrik},
  institution  = {Department of Automatic Control, Faculty of Engineering LTH, Lund University},
  issn         = {0280-5316},
  language     = {eng},
  month        = {03},
  series       = {Technical reports TFRT-7656},
  title        = {Optimization of Controller Parameters in Julia using ControlSystems.jl and Automatic Differentiation},
  url          = {https://lup.lub.lu.se/search/ws/files/61129581/autotuning.pdf},
  year         = {2019},
}