Introduction, Motivation and Overview

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Acknowledgement:
Indian Institute of Science
Founded in 1909 – more than
100 years old…
Founded by J. N. Tata (in
consultation with Swami
Vivekananda) – land was
donated by Mysore king.
Deemed University in 1958
More than 40 departments
Ranked No.1 in India for higher For further information,
education please visit www.iisc.ac.in
Only institute in India among
best 100 in global ranking
APPLIED OPTIMAL CONTROL & STATE ESTIMATION Prof.
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Radhakant Padhi, AE Dept., IISc-Bangalore

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 Know the Instructor
(Email : [email protected])
[email protected])

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Education & Experience

Education
• Doctor of Philosophy (PhD), Aerospace Eng., 2001.
Missouri University of Science & Technology – Rolla, USA
• Master of Engineering (ME), Aerospace Eng., 1996.
Indian Institute of Science, Bangalore, India.
Experience
• Dec 2015 – Till date: Professor, IISc., Bangalore
• Dec 2009 – Dec 2015: Assoc. Prof., IISc., Bangalore
• Dec 2003 – Dec 2009: Asst. Prof., IISc., Bangalore
• Dec 2001 – Dec 2003: Postdoc Fellow, UMR, USA
• Apr 1996 – Aug 1997: Scientist, RCI/DRDO, Hyderabad
APPLIED OPTIMAL CONTROL & STATE 4
ESTIMATION Prof. Radhakant Padhi, AE Dept., IISc-

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Membership of Professional Bodies
1. American Institute of Aeronautics and Astronautics (AIAA)
– Associate Fellow
2. Institute of Electrical and Electronics Engineers (IEEE) –
Senior Member & Exec. Member, IEEE CSS B’lore Chap.
3. International Federation of Automatic Control (IFAC) –
Member of Council & Tech. Committee on Aerospace
4. Aeronautical Society of India (AeSI) – Life Member
5. Systems Society of India (SSI) – Life Member
6. Soft Computing Research Society – Life Member
7. Automatic Control and Dynamic Optimization Society –
Founding Vice-President & Immediate Past President
APPLIED OPTIMAL CONTROL & STATE 5
ESTIMATION Prof. Radhakant Padhi, AE Dept., IISc-

Summary of Publications
(as on 30-June-2018)

h-Index: 20, i-10 Index: 45, Citations: 1645

(Source: Google Scholar)
Number of Publications: 232
• Book Chapter: 1
• Journals: 59
• Conferences: 172
Papers Submitted: 10
• Journal Manuscripts : 10
• Conferences: 0
For further information, please visit department and lab websites
APPLIED OPTIMAL CONTROL & STATE 6
ESTIMATION Prof. Radhakant Padhi, AE Dept., IISc-

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 Guidance of Students
Ph.D.
• Awarded: 5
• Under Progress: 10
M.Tech. (Res)
• Awarded: 4
M.Tech.
• Awarded: 8
Project staff: Many
APPLIED OPTIMAL CONTROL & STATE 7
ESTIMATION Prof. Radhakant Padhi, AE Dept., IISc-

Integrated Control Guidance and Estimation Lab (ICGEL)

& Aerospace Systems Lab (ASL)
Research Areas in ICGEL: • Nonlinear, Optimal & Adaptive Control • Model Predictive Static Programming (MPSP)
• Dynamic Inversion & Neuro-Adaptive Designs • Online Modified (OM) Design for Enhanced Robustness
• Single Network Adaptive Critic (SNAC) • State Estimation for Feedback Guidance & Control
Guidance and Control Guidance and control Nonlinear & Neuro- Formation Flying and Feedback Control for
of Missiles of UAVs Adaptive Control of Attitude Control of Customized Automatic
• MPSP and it variants are High-Perf. Aircrafts Satellites Drug Delivery
used to develop optimal A new robust nonlinear • Drug is delivered as per
guidance algorithm for patient’s condition (not in
approach is developed
open loop) - Fast recovery
better performance . for better control of high
& Reduced side effects
Examples: performance (large L/D) • Demonstrated for blood
• Impact Angle Constrained aircrafts, which are cancer, diabetes regulation
Guidance of Tactical unstable in nature. & Milk-fever of cows
Missiles
• Integrated Guidance and • Robust Formation flying
Control for Missiles for of satellites using online
Ballistic Missile Defence modified real-time
optimal control
• Robust large attitude
maneuvers of satellites in
• Guidance and Control for presence of significant Optimal Process Control
automatic landing. modelling errors
• Stereo Vision based
reactive collision avoidance
using ultra low-cost
cameras
• Nonlinear differential
geometric guidance for
collision avoidance

Contact: Current Team (2018)

Prof. Radhakant Padhi Dept. of Aerospace Engineering 10 Ph.D. Students & 4 Project Associates
(many more in the past)
E. mail: [email protected] Indian Institute of Science, Bangalore

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 Collaboration & Research Funding
Defense R&D Organisation (DRDO)
• Missile Complex (ASL, RCI, DRDL), Hyderabad
• ARDE, CAIR, ANURAG, CHESS
Indian Space Research Organisation (ISRO)
• VSSC
• ISAC
Air Force Research Lab (AFRL), USA
UKIERI Program-UK, ADD-S.Korea
Private Aerospace Companies
• Radiant Coral Digital Technologies
• Team Indus (Axiom Research Lab)
APPLIED OPTIMAL CONTROL & STATE 9
ESTIMATION Prof. Radhakant Padhi, AE Dept., IISc-
Bangalore

Research Interests of ICGEL/ASL

Theory Applications

• Aerospace Engineering
• Guidance and control
Nonlinear Adaptive Optimal control of aerospace vehicles
• Integrated guidance
Control Control and control
• Engine control
• UAV guidance and control
• Biomedical Engineering
• Parturient Paresis
Neuro- Adaptive MPSP • CML (Blood cancer)
State Adaptive Critic • Infectious diseases
Estimation Design • Diabetes
Design Design
• Mechanical Engineering
• Vibration control
• Temperature control
• Flow control

For further information, please visit www.aero.iisc.ernet.in/users/padhi

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APPLIED OPTIMAL CONTROL & STATE
ESTIMATION Prof. Radhakant Padhi, AE Dept.,

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 About the Course

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Points to Note:
The topics covered in this course are “fairly
generic”, with some emphasis on aerospace
and biomedical applications.
This course is meant to equip the participants
with applied optimal control system and state
estimation concepts.
The topics covered are “fairly mathematical”.
However, lucidity is maintained for better
understanding and future usage.
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 12
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Topics
Motivation
Static optimization
Transcription Method & Model Predictive
Control (MPC) Philosophy
Pseudo-spectral Transcription
Brief Review of Calculus of Variation
Optimal Control through Calculus of Variation
Classical Numerical Techniques for Optimal
Control
Linear Quadratic Regulator & Extensions
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 13
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Topics

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 14

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Topics
MPSP Design
• Basic Philosophy and Extensions
• Applications in Space Mission
• Applications in Missile Guidance
Linear-Quadratic (LQ) Observer
Review of Random Variable Theory
State Estimation using Kalman Filter
• CKF, DKF, CDKF, EKF and UKF

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Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

References
• R. Padhi, Applied Optimal Control and State Estimation,
Manuscript under preparation, Wiley, 2019-2020 (Expected)
• D. S. Naidu: Optimal Control Systems, CRC Press, 2002.
• A. E. Bryson and Y-C Ho: Applied Optimal Control, Taylor and
Francis, 1975.
• A. P. Sage and C. C. White, III: Optimum Systems Control (2nd
Ed.), Prentice Hall, 1977.
• D. E. Kirk: Optimal Control Theory: An Introduction, Prentice
Hall, 1970.
J. L. Crassidis and J. L. Junkins, Optimal Estimation of Dynamic
Systems, CRC Press, 2004. (new edition available)
D. Simon, Optimal State Estimation, Wiley, 2006.
Literature (Journal & Conference publications)
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 16
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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 Introduction and Motivation

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Concepts and Definitions

System Variables
• Input variables
• Control inputs: Manipulative input variables (usually
known, computed precisely)
• Noise inputs: Non-manipulative (usually unknown)
• Output variables
• Sensor outputs: Variables that are measured by sensors
• Performance outputs: Variables that govern the
performance of the system (Note: Sensor and
performance outputs may or may not be same)
• State variables: A set of variables that describe a
system completely
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 18
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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 Classification of System Study

System Study

Model Development System Analysis System Synthesis

(Includes parameter Predicting the system
To force the
Identification) behaviour: Can be
system to
done either by
behave as we
mathematical
would like it to
analysis or numerical
simulation
Beyond the scope
of this course
We will study in this course with
emphasis on *system synthesis*
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 19
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Classification
System Classification

Analogue

Lumped Continuous- Non Time Linear

Parameter time + quantized invariant
Vs.
vs. Vs.
vs. vs. + Nonlinear
Quantized Time
Distributed Discrete-
Parameter time varying

Digital

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 20

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Nonlinear vs. Linear Systems
Nonlinear Systems Linear Systems
More realistic Approximation to reality
Usually difficult to analyze and design Usually simpler to analyze and design
Tools are under development A lot of tools are well-developed.
Can have multiple equilibrium points Only single equilibrium point
System stability depends on Initial Stability nature is independent of IC
condition (IC) (justifies Transfer function approach)
Limit cycles (self-sustained oscillations) No limit cycles
Bifurcations (No. of equilibrium points No bifurcation
and their stability nature can vary with
parameter values)
Chaos (small difference in I.C. can lead No chaos
to large difference in output with time)
Frequency & amplitude can depend on Frequency and amplitude are
each other (describing function analysis) independent

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 21

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Classical vs. Modern Control

Classical Control Modern Control

Developed in 1920 – 1950 Developed in 1950 -1980

Frequency domain analysis & Time domain analysis and
design (transfer function design (differential equation
based) based)
Based on SISO models Based on MIMO models
Deals with input and output Deals with input, output and
variables state variables
Well-developed robustness Not well-developed robustness
concepts (gain/phase concepts
margins) Controllability/Observability can
No controllability/observability be inferred
inference Optimality issues can be
No optimality concerns incorporated
Well-developed concepts and Slowly gaining popularity in
very much use in industry industry
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 22
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Benefits of Advanced Control
Theory
MIMO theory: Lesser assumptions and
approximations
Simultaneous disturbance rejection and
command following (conflicting requirements)
Robustness in presence of parameter
variations, external disturbances,
unmodelled dynamics etc.
Fault tolerance
Self-autonomy
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 23
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Why Nonlinear Control?

Summary of Benefits
Improvement of existing control systems
(neglected physics can be accounted for)
Explicit account of “hard nonlinearities” and
“strong nonlinearities”
• Hard nonlinearities: Discontinuity in derivatives
(saturation, dead zones, hysteresis etc.)
• Strong nonlinearities: Higher-order terms in Taylor series

Can directly deal with model uncertainties

Can lead to “design simplicity”
Can lead to better “performance optimality”
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 24
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Techniques of Nonlinear Control
Systems Analysis and Design
Phase plane analysis
Lyapunov theory
Differential geometry (Feedback linearization)
Intelligent techniques: Neural networks,
Fuzzy logic, Genetic algorithm etc.
Describing functions
Optimal control theory (variational
optimization, dynamic programming etc.)

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 25

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Pioneers of Optimal Control

1700s
• Bernoulli, Newton
• Euler (Student of Bernoulli)
Newton
• Lagrange Bernoulli
Euler
....200 years later....
Lagrange
1900s
• Pontryagin
• Bellman
Pontryagin
• Kalman Bellman
Kalman
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 26
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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An Interesting Observation
Euler (1726) - Lagrange - Fourier - Dirichlet -
Lipschitz - Klein [1A]
Euler (1726) - Lagrange - Poisson - Dirichlet -
Lipschitz - Klein [1B]
Gauss (1799) - Gerling - Pluecker - Klein [2]
>> Klein - Lindeman - Hilb - Baer - Liepman -
Bryson - Speyer - Bala - Padhi [3]
Gauss (1799) - Bessel - Scherk - Kummer - Prym -
Rost - Baer - Liepman - Bryson - Speyer - Bala -
Padhi [4]
APPLIED OPTIMAL CONTROL & STATE 27
ESTIMATION Prof. Radhakant Padhi, AE Dept.,
IISc-Bangalore

Role of Optimal Control

Question: What is R(s)? How to design it??
Unfortunately, books remain completely silent on this!

Optimization
(Optimal Control)

Optimization
(Optimal Control)

Mission Objectives

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 28

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Why Optimal Control?
Summary of Benefits
A variety of difficult real-life problems can be
formulated in the framework of optimal control.
State and control bounds can be incorporated
in the control design process explicitly.
Incorporation of optimal issues lead to a
variety of advantages, like minimum cost,
maximum efficiency, non-conservative design
etc.
Trajectory planning issues can be incorporated
into the guidance and control design.
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 29
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Difficulty of Optimal Control

Fact: Optimal control problems are computationally very
intensive and hence are difficult to solve in real time!
Question: Can the computational difficulty be avoided, so
that optimal control design can be useful for real-time
applications?
Answer: Yes!
• Linear Quadratic Regulator (LQR) problems
• Nonlinear quadratic regulator for control affine systems
• SDRE Method, θ – D Method
• Pseudo-spectral methods
• Adaptive-Critic methods (neural network based)
• Model Predictive Static Programming (MPSP)
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 30
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Optimal control formulation:
Key components
An optimal control formulation consists of:
• Performance index that needs to be optimized
• Appropriate boundary (initial & final) conditions
• Hard constraints
• Soft constraints
• Path constraints
• System dynamics constraint (nonlinear in general)
• State constraints
• Control constraints
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 31
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Optimal Control Design:

Problem Statement

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 32

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Meaningful Performance Index

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 33

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Why State Estimation?

State feedback control designs need the state
information for control computation
In practice all the state variables are not available
for feedback. Possible reasons are:
• Non-availability of sensors
• Expensive sensors
• Quality of sensor input is not acceptable due to noise (its an
issue in output feedback control design as well)

A state observer estimates the state variables

based on the measurement of some of the output
variables as well as the process information.
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 34
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Main Aspects of Estimation
Prediction, Filtering and Smoothing: improves
noisy measurements, typically due to process noise
and measurement noise.

Can also take care of limited inaccuracy or errors in

system modeling (i.e. relying on estimated states
leads to a robust controller)

Parameter estimation (for system identification)

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 35

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Other Applications of Estimation

Model development (parameter
estimation, state-parameter estimation)
Fault Detection and Identification (FDI)
Estimation of states of other related
systems (especially non-cooperative
systems) to collect exogenous information
that are relevant to the successful
operation of the plant
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 36
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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 Typical Applications in
Aerospace Engineering

Prof. Radhakant Padhi

Dept. of Aerospace Engineering
Indian Institute of Science - Bangalore

Applications of Optimal Control and State

Estimation in Aerospace Engineering

Missile Guidance and Control

• Rapid and precise command response
• System limitations (like tail-control and
smaller fins)
• Disturbance rejection (wind gust, motor
burnout, stage separation etc.)
• Prediction of target behaviour through state
estimation

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 38

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Applications of Optimal Control and State
Estimation in Aerospace Engineering

Guidance and Control of Unmanned Air

Vehicles (UAVs)
• Way-point guidance
• Automatic take-off and landing
• Collision avoidance
• Formation flying
• Co-operative missions
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 39
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

Applications of Optimal Control and State

Estimation in Aerospace Engineering

Space Missions
• Guidance of Launch Vehicles
• Attitude control
• Station Keeping
• Formation Flying
• Rendezvous and Docking
• Automatic Soft-landing
APPLIED OPTIMAL CONTROL & STATE ESTIMATION 40
Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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Thanks for the Attention….!!

APPLIED OPTIMAL CONTROL & STATE ESTIMATION 41

Prof. Radhakant Padhi, AE Dept., IISc-Bangalore

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