Real-time Dynamic Optimization of Nonlinear Systems: A Flatness-based Approach

In this paper, a real-time optimizing controller is developed to steer a differentially flat nonlinear control system to closed-loop trajectories that optimize a cost functional of interest. An interior point optimization method with penalty function is used to formulate a real-time optimization scheme. The problem is posed as a real-time optimal trajectory generaction problem in which the optimal trajectories are computed using an adaptive extremum-seeking approach. A fed-batch bioreactor simulation example is used to demonstrate the application of the technique to a finite time dynamic optimization problems that arise in batch process control.