Nonlinear input design as optimal control of a Hamiltonian system

Abstract

We propose an input design method for a general class of parametric probabilistic models, including nonlinear dynamical systems with process noise. The goal of the procedure is to select inputs such that the parameter posterior distribution concentrates about the true value of the parameters; however, exact computation of the posterior is intractable. By representing (samples from) the posterior as trajectories from a certain Hamiltonian system, we transform the input design task into an optimal control problem. The method is illustrated via numerical examples, including MRI pulse sequence design.