A NEW DIRECT DECOMPOSITION METHOD OF TWO LEVEL HIERARCHICAL CONTROL FOR THE LARGE SCALE SYSTEM

In this paper, a new decomposition coordination method of hierarchical control is presented, it consists of a direct gradient solution of the optimization problem, together with a free flexibility decomposition of the cost function. Using the freedom of the cost function decomposition the desired mixed structure control laws are obtained. The low level controller is a closed loop term, while at the higher level an open loop term guarantees the optimality of the global solution. Moreover, the method offers a great flexibility in the choice of the local cost function indices, this the repartition of the task between the two levels can be either off line computation or on line regulation.