A novel, Fourier series based method of control optimization and its application to a discontinuous capsule drive model - research data

The research data is connected with the paper "A novel, Fourier series based method of control optimization and its application to a discontinuous capsule drive model". The paper and the associated data are the evidence of the following resarch hypothesis: "The novel, Fourier series based method enables open-loop control optimization also in non-smooth, discontinuous, or even black-box systems". This fact has been proven by successful control optimization of a pendulum capsule drive system, in which stick-slip discontinuity due to dry friction is present. The research data contain notes on modelling of the capsule drive (Maxima files, PDF files), nondimensionalization of the capsule drive (PDF file), software for simulation of the capsule drive (MATLAB scripts and Python 3 scripts with C++ library) and software for optimization of the capsule drive (Python 3 scripts with C++ library). The C++ library has been created using CodeBlocks software, it is recommended to use the same software for compilation of the code. Please note that if the C++ library is compiled using a 32-bit compiler, then a 32-bit Python 3 interpreter is required. In the version no. 2, solution of a simple, exemplary 1 DoF system has been added. The solution obtained using Pontryagin Minimum Principle (PMP) is approximated using BVP solver from SciPy package. The PMP solution can be compared with Fourier approximations. All the new scripts have been created in Python 3 with use of SciPy and NumPy packages, as well as Matplotlib library.