Iterative Optimal Control of Liquid Slosh in an Industrial Packaging Machine

Presents an iterative approach to optimal control when modeling errors are present. The problem considered is movement of open containers containing liquid in an industrial packaging machine. The goal is to move as fast as possible without too much slosh. There is no measurement of the slosh available in the machine, therefore open loop control via the acceleration reference is the only possibility to control the slosh. However it is possible to measure the slosh in an experimental testbed. This can be used to determine offline the acceleration reference. An algorithm for iterative optimal control is derived that uses experimental data to refine the solution of the optimal control proble