Real-time dynamic optimization of nonlinear systems: A flatness-based approach

In this paper, a real-time optimizing controller is developed to steer a differentially flat nonlinear control system to closed-loop trajectories that optimize a cost functional of interest. An interior-point optimization method with penalty function is used to formulate a real-time optimization scheme. The problem is posed as a real-time optimal trajectory generation problem in which the optimal trajectories are computed using an adaptive extremum-seeking approach. Simulation examples are used to demonstrate the application of the technique to various finite time dynamic optimization problems that arise in batch process control.