Chapter 8: Plant, Controller, Sensor, and Actuator Architecture Co-Design

Designing what components exist and how they are connected¶

Architecture co-design decides which components, connections, measurements, and control channels exist. Parameter optimization then chooses values within each logically consistent architecture.

Learning objectives¶

After completing this chapter, you should be able to:

1. explain and apply physical topology;

2. explain and apply actuator set;

3. explain and apply sensor set;

4. explain and apply information network;

5. formulate and verify the chapter methods on sensor and actuator selection for a flexible structure, suspension alternatives, and hybrid-powertrain topology.

Mathematical lens¶

The recurring quantities are $a\in\{0,1\}^m$, continuous $p$, and controller design $c$:

Running example¶

The recurring example is sensor and actuator selection for a flexible structure, suspension alternatives, and hybrid-powertrain topology. Retaining one system prevents apparent improvements from being caused by changed physics, information, loads, or metrics.

Recommended workflow¶

1. generate architectures.

2. enforce logic.

3. optimize parameters.

4. test faults.

5. compare value.

Chapter map¶

1. Parameter Design Versus Architecture Design

2. Plant Topology Decisions

3. Actuator Sizing and Placement

4. Sensor Selection and Placement

5. Communication and Information-Flow Architecture

6. Redundancy and Fault Tolerance

7. Binary and Integer Design Variables

8. Mixed-Integer CCD

9. Controller-Order Selection

10. Architecture–Parameter–Control Optimization