On the numerical determination of optimal inputs

The design of optimal inputs for linear and nonlinear system identification involves the maximization of a quadratic performance index subject to an input energy constraint. In the classical approach, a Lagrange multiplier is introduced whose value is an unknown constant. In recent papers, the Lagrange multiplier has been determined by plotting a curve of the Lagrange multiplier as a function of the critical interval length or a curve of input energy versus the interval length. A new approach is presented in this paper in which the Lagrange multiplier is introduced as a state variable and evaluated simultaneously with the optimal input. Numerical results are given for both a linear and a nonlinear dynamic system.