Optirol is a software for optimal control of nonlinear systems, which can be described by ordinary differential equations. I wrote it during my external Ph.D. studies and is freely available (SharpGL is part of it and is delivered as DLL under MIT license). It was written in C# and runs on Windows.
First, I came up with algorithm which is based on subdivision algorithm:
- P. Taraba: Subdivision algorithm for optimal control, International Journal of Robust and Nonlinear Control, John Wiley & Sons, Ltd., March 2012
And then I realized I can do it faster and even estimate the error:
- P. Taraba: Optimal Control Mesh, Proceedings of the World Congress on Engineering and Computer Science, IAENG, October 2012
The software Optirol provides automatically setting files for three different systems:
- Dubins path (convexed Reeds-Shepp model)
- DC to DC converter
- Inverted pendulum (with simple and more advanced optimization function)
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You can go to github for Optirol if you want to try it out.
Finally, the algorithm got into my Ph.D. thesis as a chapter:
- P. Taraba: Optimal Control for Nonlinear Systems, Ph.D. Thesis (chapter), Slovak University of Technology, February 2013
Enjoy free C# software!
[Original website for Optirol project was http://www.optirol.com and is now redirected here]
[Original website for Optirol project was http://www.optirol.com and is now redirected here]