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Solution du TD n°2
(Commande Optimale)
Exercice n° 1 :
1-Calcul de l’Hamiltonien :
H ( x, u, p, t ) = ( x, u, t ) + pT f ( x, u, t )
H ( x, u, p, t ) = p1 x2 + 1,5 p2 u + 2u 2
2- Equation de commande :
H / u * = 1,5 p2 + 4u * = 0 => u * = −3 p 2 / 8
3-L’Hamiltonien à l’optimum
H * ( x, u, p, t ) = p1 x2 − 9 / 32 p 22
x = H / p1 = x2
x = H / p => 1
x 2 = H / p 2 = −(16 p1 ) / 19
p = −H / x1 = 0
p = −H / x => 1
p 2 = −H / x2 = − p1
Alors
5-Solutions optimales :
x1*(t)=(3*C3*t3)/32−(9*C4*t2)/32+C2*t+C1
x2*(t)=(9*C3*t2)/32−(9*C4*t)/16+C2
p1*(t)=C3
p2*(t)=−C3*t +C4
u*(t)=3*(C3*t−C4)/8
6-Calculs de constantes :
D’où :
x1*(t)= (5*t3)/4−(15*t2)/2+20*t+10
x2*(t)=(15*t^2)/4−15*t+20
p1*(t)=40/3
p2*(t)=−(40*t)/3+80/3
u*(t)=(5*t−10)