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Dinmica
Maximizar
Sujeto a:
L=
k (x , ) dt + S (T )
T
dx
= f (x , )
dt
x(0) = x0
Problemas Histricos
A = y ( x) dx
o
L = ds =
(dy ) + (dx )
2
=
0
y x1
xt
dy
1 + dx
dx
Maximize
A = x1 (t ) dt
o
dx1
=u
dt
x1 (0) = 0 x1 (T ) = 0
T
L = 1 + u 2 dt
0
dx2
= 1+ u2
dt
x2 (0) = 0
x2 (T ) = L
Problemas Isoperimtrico
Maximize A = x1 (t ) dt
o
dx1
=u
dt
dx2
= 1+ u2
dt
x1 (0) = 0
x2 (0) = 0
x1 (T ) = 0
x2 (T ) = L
Galileo
Bernoulli
L=
T
dD
V
dt =
dt
0
dt
Rt + 1
dxt1
V
=
dt
Rt + 1
x01 = Bo = F
dxt2
V ( xt2 xD(1) )
=
dt
Rt + 1
xt1
Pureza
promedio
x =
*
D
V
dt
Rt + 1
V
dt
Rt + 1
xD(1)
x02 = xF(1)
Maximizar
L = k (x, ) dt
dx
=f
dt
J = c x (T ) = ci xi (T )
T
i =1
dx
= f
dt
x(0) = x0
Hamiltoniano
x(0) = x0
H = f = i f i
T
i =1
Ecuaciones y
Variables Adjuntas
d
=
dt
fx =
j =1
dx
=f
dt
xi
x(0) = x0
(T ) = c
Problem a de Destilado
M ximo: Principio del
M ximo
Funcin objetivo es
re-escrita en forma Maximizar
Rt
Lagrangiana
L=
)]
V
1 xD* xD(1) dt
Rt + 1
Sujeto a:
dxt1
V
=
dt
Rt + 1
x01 = Bo = F
dxt2
V ( xt2 xD(1) )
=
dt
Rt + 1
xt1
x02 = xF(1)
Problem a de Destilado
M ximo: Principio del
M ximo
V
Para obtener forma
[1 (x x )]dt
x =
R +1
t
3
lineal de Mayer
*
D
(1)
D
Maximize
Rt
x3T
Sujeto a:
dxt1
V
=
dt
Rt + 1
x01 = Bo = F
dxt2
V ( xt2 xD(1) )
=
dt
Rt + 1
xt1
x02 = xF(1)
dx t3
V
1 x D* x D(1 )
=
dt
Rt + 1
)]
Hamiltoniano
Problem a de Destilado
M ximo: Principio del
M ximo
V (x x )
V
V
[1 (x
H =
+
+
t
1
t
Ecuaciones y
Variables Adjuntas
)
( )
2
(1)
dt1
2 V xt x D
= t
, T1 = 0
2
dt
(Rt + 1) xt1
Rt +1
2
t
2
t
(Rt +1) x
3
t
Rt +1
*
D
xD(1)
)]
Perfil ptimo
t2 2
(1)
1
*
(1)
+
x
x
x
x
1
(
)
(
)
D
t
D
D
x1 t
t
1
Rt =
2
(1)
xD
t1
Rt
xt
xD(1)
V 1 2
2
xt
V xD(1)
d t
2
3
2
,
= t
=0
t
T
1
2
(Rt + 1) xt
(Rt + 1) xt
dt
dt3
= 0 , T3 = 1
dt
(1)
D
1
t
H
=0
Rt
Programacin Dinmica
Condicin de Optimalidad:
Optimalidad Aplicacin del Principio
de Optimalidad de Bellman da como resultado una
ecuacin diferencial parcial conocida como Ecuacin
Hamilton-Jacobi-Bellman (HJB)
Maximize
0=
t
0=
L
L dx ti
+ k ( x t , t ) +
i
dt
t
i
t
L
k
(
x
,
)
f
+
+
t
i i
t
t
i xt
Maximize
t
0=
Maximize
t
[L t + k + L x f ]
Ecuacin HJB
L Maximize
0=
+
Rt
t
Problem a de Destilado
M ximo: Program a cin
Din mica
V
L V L
*
(1)
x
x
1
+ 2
D
D
1
R
x
R
1
1
+
+
t
t
t
xt
)]
V ( xt2 xD(1) )
1
R
x
1
+
t
t
Perfil ptimo
V xD(1) L 1 xD(1)
V
L L xt2 xD(1)
*
(1)
+
0 = 1 ( xD xD ) 1 + 2
R x 2 x1 R
1
2
(
1
)
1
x
x
x
R
R
+
+
t
t
t
t
t
t
t
t
t
2
(1)
x
x
t
D
L 2
xt xt1
Rt =
L
1 (x D* x D(1) ) + 1
xt
1
L 2
(1)
xt
x D
Rt
xt1
Problemas Estocsticos
de Control ptimo
9
9
Procesos de Ito
dx = a( x, t ) dt + b( x, t )dz
a y b son funciones conocidas y dz es el incremento de un
proceso Wiener. Note que E[dz]=0 y E[dz2]=dt
Procesos de Ito
Algunos parmetros ingenieriles pueden representarse como
procesos de Ito:
Movimiento Browniano
dx = dt + dz
dx = xavg x dt + dz
dx = x dt + x dz
Lema de Ito
dx = a( x, t ) dt + b( x, t )dz
1 2F
F
F
2
(
)
dF =
dt +
dx +
dx
t
x
2 x 2
F
F 1 2
2 F
dF = + a( x, t ) + b ( x, t ) 2
x 2
x
t
F
dt + b( x, t ) dz
x
Sujeto a:
Condiciones de
Optimalidad:
Optimalidad
dx ti = f i x t , t dt + i dz
0=
Procesos de Ito
Maximize
1
k
(
x
E
(
dL
)
t ,t ) +
t
dt
Maximize L
i2 2 L
2L
L
0=
+ i j i j
+ k ( xt , t ) + i fi ( xt , t ) +
i 2
t
2
t
(xt ) i j
xt xt
i xt
i
dx
=f
dt
d
= fx
dt
x(0) = x0
(T ) = c
2
H = f +
2
dx = f dt + dz
x ( 0 ) = x0
( )
1
d
= fx
2
dt
( )
d
1
= 2 f x f xx
dt
2
Determinstico
xx
Estocstico
(T ) = c
(T ) = 0
dD
T V
L=
dt = 0
dt
dt
Rt + 1
T
0
Sujeto a:
V
x
0 Rt + 1 dt *
= T
= xD
V
0 Rt + 1 dt
T
xDave
dxt1
V
=
dt
Rt + 1
(1)
D
dx t2
x01 = Bo = F
V ( x t2 x D(1) )
dt + x t2 2 dz 2
=
1
Rt + 1
xt
Proceso Ito
x 02 = x F(1)
R e lativ e V o latility
R igorous
S im ulation
P ath 1
P ath 2
P ath 3
T im e (H rs)
2
(1)
d
2 V xt x D
=
2
dt
(Rt + 1) xt1
Ecuaciones
Adjuntas
Perfil
ptimo
( )
x D(1)
V 1 2
xt
2 2
2 xt
(Rt + 1) xt1
2 xD(1)
xD(1)
V
V 1 2
2 2
x
V xt2 xD(1)
d
t
2
t
+
= 2
2
1
1
2
dt
(Rt + 1) xt
(Rt + 1) xt
(Rt + 1) xt1
( )
Rt =
xt1
xt2
xD(1)
Rt
xD(1)
( )
( )
R
(
1
)
+
xt1 2 2 xt2 t
R
V
1
+
xD(1)
Rt
Movimiento Browniano
Maximize
x3 (T )
u
dx1
=u
dt
x1 (0) = 0
x1 (T ) = 0
dx2
x2 (0) = 0 x2 (T ) = L
= 1+ u2
dt
dx3
x3 (0) = 0
= x1
dt
L = 16
Estocstico
dx1 = u dt + dz
x1 (0) = 0 x1 (T ) = 0
= 0.5
Suposicin meramente
acadmica
1 = t + c1
2 = c2
3 = 1
=0
u
1 +
2 = 0
2
1+ u
Bibliografa
1. Teora de optimizacin (determinstica) y
Aplicaciones en Ingeniera Qumica
a) Practical Methods of Optimization; R. Fletcher, 2nd. Ed., Wiley
b) Optimization of Chemical Processes; Edgar, Himmelblau and Larson,
2nd. Ed., McGraw-Hill
c) Nonlinear Programming, Theory and Algorithms; Bazaraa, Sherali and
Shetty, Wiley
d) Systematic Methods for Chemical Process Design; Biegler, Grossmann
and Westerberg, Prentice Hall
e) Linear Programming; Chvatal Vasek, Ed. W. H. Freeman and Co.
2. Programacin MultiObjetivo
a) Introduction to Applied Optimization, Diwekar, Kluwer Academic
Publishers
Bibliografa
3. Programacin Estocstica
a) Stochastic Programming, Kall and Wallace, Wiley
4. Control ptimo
a) Batch Distillation, Simulation, Optimal Design and Control; Diwekar, Ed.
Taylor and Francis
b) Optimal Control Theory; Sethi and Thompson, Kluwer Academic
Publishers
c) Investment Under Uncertainty; Dixit and Pindyck, Princeton University
Press