Open-Loop Intermittent Feedback Optimal Control: reference manual to an on-line simulation package

This report is a reference manual to the on-line simulation package based on the Open-Loop Intermittent Feedback Optimal (OLIFO) controller available at http://merlot.ee.usyd.edu.au/OLIFO. The OLIFO controller is a practical continuous time nonlinear Model based Pre-dictive Controller (MPC). On-line integration of the model equation is used for the prediction. Only two parameters of a bounded and smooth open-loop control structure have to be optimised each time instant. An intermittent moving horizon strategy is used to ensure a suucient time interval to allow for the optimisation. The previously optimised open-loop controller is applied while a new optimisation is taking place. The capability and practical robustness of this approach are illustrated through the control of a various number of nonlinear systems.