Optimization of Controller Parameters in Julia using ControlSystems.jl and Automatic Differentiation
(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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/f4f17a37-8f73-47b5-8017-6988f257432b
- author
- Bagge Carlson, Fredrik LU
- organization
- publishing date
- 2019-03-06
- 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/files/61129581/autotuning.pdf}}, year = {{2019}}, }