Minimization Process...

Hi all

I have the following segment of maple program which belongs to time delay systems dynamic. here C=X-X0-G.Z-X.Dtau.P+X.Dtau.Z-U.P, is a matrix(vector) which comes from reordering the system terms and my goal is to minimizing J:=X.E.Transpose(X)+U.E.Transpose(U), subject to constraint C=0, but i don't know how to do so.

I will be so grateful if anyone can guide me

best wishes

Ph.D Candidate

Applied Mathematics Department

 > restart: with(Optimization): with(LinearAlgebra): macro(LA= LinearAlgebra): L:=1:  r:=2:  tau:= 1: interface(rtablesize= 2*r+1): Z:= Matrix(      2*r+1, 2*r+1,      [tau,       seq(evalf((L/(2*(iz-1)*Pi))*sin(2*(iz-1)*Pi*tau/L)), iz= 2..r+1),       seq(evalf((L/(2*(iz-1-r)*Pi))*(1-cos(2*(iz-1-r)*Pi*tau/L))), iz= r+2..2*r+1)       ],      scan= columns,      datatype= float[8] );                          Dtau00:= < 1 >: Dtau01:= Vector[row](r): Dtau02:= Vector[row](r): Dtau10:= Vector(r): Dtau20:= Vector(r): Dtau1:= LA:-DiagonalMatrix([seq(evalf(cos(2*i*Pi*tau/L)), i= 1..r)]): Dtau2:= LA:-DiagonalMatrix([seq(evalf(sin(2*i*Pi*tau/L)), i= 1..r)]): Dtau3:= -Dtau2: Dtau4:= copy(Dtau1): Dtau:= < < Dtau00 | Dtau01 | Dtau02 >,          < Dtau10 | Dtau1  | Dtau2  >,          < Dtau20 | Dtau3  | Dtau4  > >;   P00:= < L/2 >: P01:= Vector[row](r): P02:= Vector[row](r, j-> evalf(-L/j/Pi), datatype= float[8]): P10:= Vector(r): P20:= Vector(r, i-> evalf(L/2/i/Pi)): P1:= Matrix(r,r): P2:= LA:-DiagonalMatrix(P20): P3:= LA:-DiagonalMatrix(-P20): P4:= Matrix(r,r): P:= < < P00 | P01 | P02 >,       < P10 | P1  | P2  >,       < P20 | P3  | P4  > >; interface(rtablesize=2*r+1):    # optionally J:=Vector([L, L/2 \$ 2*r]):      # Matrix([[...]]) would also work here E:=DiagonalMatrix(J); X:=  Vector[row](2*r+1,symbol=a); U:=Vector[row](2*r+1,symbol=b); X0:= Vector[row](2*r+1,[1]); G:=Vector[row](2*r+1,[1]); C:=simplify(X-X0-G.Z-X.Dtau.P+X.Dtau.Z-U.P);
 (1)
 > J:=X.E.Transpose(X)+U.E.Transpose(U);
 (2)
 > Minimize(J,{C=0});
 Error, (in Optimization:-NLPSolve) invalid arguments
 > #XP:=-.015+X[1]+add(X[l+1]*f1(l)+X[r+l+1]*f2(l), l= 1..r): #plot([XP,T1], t= 0..1);#,legend= "Solution Of x(t) with r=50"):
 >
 >
 >
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