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Numerical Solution For Decentralized Optimal Control of Interconnected Systems Using The Block Pulse Functions

A novel numerical method based on an idea of orthogonal approximation of functions, namely Block Pulse Functions, is proposed in this work. Thus, we exploit and rigorously develop this direct approach based on the block pulse functions parametrization technique for solving decentralized optimal control problems of large-scale interconnected systems. The main advantage of using this technique is its ability to transform the original optimal control problem into a nonlinear programming problem relatively easier to solve. As a final step, a numerical simulation is performed on a triple inverted pendulums directly mounted on triple carts. Our results reveal the applicability, the validity and the effectiveness of the proposed method.