3,305 research outputs found
Stability and Performance Verification of Optimization-based Controllers
This paper presents a method to verify closed-loop properties of
optimization-based controllers for deterministic and stochastic constrained
polynomial discrete-time dynamical systems. The closed-loop properties amenable
to the proposed technique include global and local stability, performance with
respect to a given cost function (both in a deterministic and stochastic
setting) and the gain. The method applies to a wide range of
practical control problems: For instance, a dynamical controller (e.g., a PID)
plus input saturation, model predictive control with state estimation, inexact
model and soft constraints, or a general optimization-based controller where
the underlying problem is solved with a fixed number of iterations of a
first-order method are all amenable to the proposed approach.
The approach is based on the observation that the control input generated by
an optimization-based controller satisfies the associated Karush-Kuhn-Tucker
(KKT) conditions which, provided all data is polynomial, are a system of
polynomial equalities and inequalities. The closed-loop properties can then be
analyzed using sum-of-squares (SOS) programming
Algorithm 950: Ncpol2sdpa---Sparse Semidefinite Programming Relaxations for Polynomial Optimization Problems of Noncommuting Variables
A hierarchy of semidefinite programming (SDP) relaxations approximates the
global optimum of polynomial optimization problems of noncommuting variables.
Generating the relaxation, however, is a computationally demanding task, and
only problems of commuting variables have efficient generators. We develop an
implementation for problems of noncommuting problems that creates the
relaxation to be solved by SDPA -- a high-performance solver that runs in a
distributed environment. We further exploit the inherent sparsity of
optimization problems in quantum physics to reduce the complexity of the
resulting relaxations. Constrained problems with a relaxation of order two may
contain up to a hundred variables. The implementation is available in Python.
The tool helps solve problems such as finding the ground state energy or
testing quantum correlations.Comment: 17 pages, 3 figures, 1 table, 2 algorithms, the algorithm is
available at http://peterwittek.github.io/ncpol2sdpa
Bounding stationary averages of polynomial diffusions via semidefinite programming
We introduce an algorithm based on semidefinite programming that yields
increasing (resp. decreasing) sequences of lower (resp. upper) bounds on
polynomial stationary averages of diffusions with polynomial drift vector and
diffusion coefficients. The bounds are obtained by optimising an objective,
determined by the stationary average of interest, over the set of real vectors
defined by certain linear equalities and semidefinite inequalities which are
satisfied by the moments of any stationary measure of the diffusion. We
exemplify the use of the approach through several applications: a Bayesian
inference problem; the computation of Lyapunov exponents of linear ordinary
differential equations perturbed by multiplicative white noise; and a
reliability problem from structural mechanics. Additionally, we prove that the
bounds converge to the infimum and supremum of the set of stationary averages
for certain SDEs associated with the computation of the Lyapunov exponents, and
we provide numerical evidence of convergence in more general settings
Lecture notes: Semidefinite programs and harmonic analysis
Lecture notes for the tutorial at the workshop HPOPT 2008 - 10th
International Workshop on High Performance Optimization Techniques (Algebraic
Structure in Semidefinite Programming), June 11th to 13th, 2008, Tilburg
University, The Netherlands.Comment: 31 page
Improving Efficiency and Scalability of Sum of Squares Optimization: Recent Advances and Limitations
It is well-known that any sum of squares (SOS) program can be cast as a
semidefinite program (SDP) of a particular structure and that therein lies the
computational bottleneck for SOS programs, as the SDPs generated by this
procedure are large and costly to solve when the polynomials involved in the
SOS programs have a large number of variables and degree. In this paper, we
review SOS optimization techniques and present two new methods for improving
their computational efficiency. The first method leverages the sparsity of the
underlying SDP to obtain computational speed-ups. Further improvements can be
obtained if the coefficients of the polynomials that describe the problem have
a particular sparsity pattern, called chordal sparsity. The second method
bypasses semidefinite programming altogether and relies instead on solving a
sequence of more tractable convex programs, namely linear and second order cone
programs. This opens up the question as to how well one can approximate the
cone of SOS polynomials by second order representable cones. In the last part
of the paper, we present some recent negative results related to this question.Comment: Tutorial for CDC 201
Convex Relaxation of Optimal Power Flow, Part II: Exactness
This tutorial summarizes recent advances in the convex relaxation of the
optimal power flow (OPF) problem, focusing on structural properties rather than
algorithms. Part I presents two power flow models, formulates OPF and their
relaxations in each model, and proves equivalence relations among them. Part II
presents sufficient conditions under which the convex relaxations are exact.Comment: Citation: IEEE Transactions on Control of Network Systems, June 2014.
This is an extended version with Appendex VI that proves the main results in
this tutoria
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