A case study comparing both stochastic and worst-case robust control co-design under different control structures

Abstract

As uncertainty considerations become increasingly important aspects of concurrent plant and control optimization, it is imperative to identify and compare the impact of uncertain control co-design (UCCD) formulations on their associated solutions. While previous work developed the theory for various UCCD formulations, their implementation, along with an in-depth discussion of the structure of UCCD problems, implicit assumptions, method-dependent considerations, and practical insights, is currently missing from the literature. Therefore, in this study, we address some of these limitations by focusing on UCCD formulations, with an emphasis on optimal control structures, and uncertainty propagation techniques. Specifically, we propose three optimal control structures for UCCD problems: (i) open-loop multiple-control (OLMC), (ii) multi-stage control (MSC), and (iii) open-loop single-control (OLSC). Stochastic in expectation UCCD (SE-UCCD) and worst-case robust UCCD (WCR-UCCD) formulations, which are motivated by probabilistic and crisp representations of uncertainties, respectively, are implemented for a simplified strain-actuated solar array case study. Solutions to the OLMC SE-UCCD problem are obtained using two uncertainty propagation techniques: generalized Polynomial Chaos expansion (gPC) and Monte Carlo simulation (MCS). The OLMC and MSC WCR-UCCD problems are solved by leveraging the structure of the linear program, leading to polytopic uncertainties. To highlight the importance of uncertainty in early-stage design, the closed-loop reference-tracking response of the systems is also investigated. Insights from such studies underscore the role of the control structure in managing the trade-offs between risk and performance, as well as meeting problem requirements. The results also emphasize the benefits of efficient uncertainty propagation techniques for dynamic optimization problems.