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COMPARISON OF COMBINED EMBODIMENT DESIGN AND CONTROL OPTIMIZATION STRATEGIES USING OPTIMALITY CONDITIONS

Optimal embodiment design and control systems can be solved using several different strategies. This paper considers whether those strategies will find the true system optimum. Optimality conditions determine whether a point is an optimum of a system. This paper presents a development and comparison of the optimality conditions for several methods of optimizing fully coupled embodiment design and control systems. The results demonstrate that the methods do not possess the same optimality conditions and therefore will not converge to the same optimal solutions, often leading to suboptimal solutions. Since these strategies have been used successfully to solve various examples, criteria are developed to determine when the various methods will find the true system optimum.