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Learning And Control Using Gaussian Processes, Achin Jain, Truong X Nghiem, Manfred Morari, Rahul Mangharam Feb 2018

Learning And Control Using Gaussian Processes, Achin Jain, Truong X Nghiem, Manfred Morari, Rahul Mangharam

Real-Time and Embedded Systems Lab (mLAB)

Building physics-based models of complex physical systems like buildings and chemical plants is extremely cost and time prohibitive for applications such as real-time optimal control, production planning and supply chain logistics. Machine learning algorithms can reduce this cost and time complexity, and are, consequently, more scalable for large-scale physical systems. However, there are many practical challenges that must be addressed before employing machine learning for closed-loop control. This paper proposes the use of Gaussian Processes (GP) for learning control-oriented models: (1) We develop methods for the optimal experiment design (OED) of functional tests to learn models of a physical system ...