Patent ID: 6330483
Filing Date: 2001-12-11
Classification: G05B

Abstract:
A method of distributing a pseudo-control vector (u.sub.c) amongst multiple plant effectors, the method comprising:(a) differencing a command target signal (u.sub.c) with an actual target vector (u.sub.a) at a first combiner (86) to form a target error signal (u.sub.e);(b) applying an L1 Optimizer to the target error signal to solve for an optimal control effector output signal (u), the L1 Optimizer applying absolute penalty weights (W.sub.pi, W.sub.ni) to the target error signal and solving a cost function (J) for the optimal control effector output signal (u);(c) providing the optimal control effector output signal (u) to the plant;(d) feeding back the optimal control effector signal through a target gain matrix (F) to form a gain-applied effector signal; and(e) combining the gain-applied effector signal with a bias vector signal (u.sub.b) to form the actual target vector (u.sub.a);wherein the application of the control signal in the plant results in an optimal mapping of the command target signal (u.sub.c) onto the control effector output signal (u) in a manner consistent with the L1 optimization weights.