Marco Forgione, Tue 24 July, 10:00-10:30
by Announcements of talks@IDSIA
::Speaker
Marco Forgione
::Title
Data-driven model Improvement for Model-based Control
::Abstract
In this talk, I present a framework for the gradual improvement of
model-based control
for linear systems operating in closed-loop. The total time of
closed-loop operation is
divided into a number of consecutive learning intervals. After an
interval is executed, the
model is refined based on the measured data using system identification
techniques. This
model is used to synthesize the controller applied during the next interval.
Excitation signals can be injected into the control loop during each of
the learning
intervals. On the one hand, the presence of an excitation signal worsens
the control
performance in the current interval since it acts as a disturbance. On
the other hand, the
more informative data generated with the excitation signal applied lead
to a more
accurate model after re-identification. Therefore, the control
performance for the next
intervals is likely to improve. In principle, the excitation signals
should be designed to
maximize the overall control performance taking this dual effect
explicitly into account.
However, this is in an intractable stochastic optimization problem. For
this reason, a
convex approximation of the original problem is derived. The
approximated problem
can be solved efficiently using standard optimization software. The
applicability of the
method is demonstrated in a simulation study and preliminary extensions
to nonlinear
systems are discussed in the final part of the presentation.
*Bio:
Marco Forgione is a researcher in the Control and Automation field.
He currently works in the industrial sector.
He holds a M.Sc. degree in Computer Engineering from the University of
Pavia, Italy.
Postdoctoral Researcher at the Ecole Centrale de Lyon,
*Location:
IDSIA's meeting room