This work concerns control-oriented and structure-preserving learning of low-dimensional approximations of high-dimensional physical systems, with a focus on mechanical systems. We investigate the integration of neural autoencoders in model order reduction, while at the same time preserving Hamiltonian or Lagrangian structures. We focus on extensively evaluating the considered methodology by performing simulation and control experiments on large mass-spring-damper networks, with hundreds of states. The empirical findings reveal that compressed latent dynamics with less than 5 degrees of freedom can accurately reconstruct the original systems' transient and steady-state behavior with a relative total error of around 4\%, while simultaneously accurately reconstructing the total energy. Leveraging this system compression technique, we introduce a model-based controller that exploits the mathematical structure of the compressed model to regulate the configuration of heavily underactuated mechanical systems.

控制导向的、结构保持的学习关于高维物理系统的低维近似，重点研究机械系统。我们研究了在模型阶数降低中整合神经自编码器，同时保留哈密顿或拉格朗日结构。我们着重评估所考虑方法的性能，通过在包含数百个状态的大型质量-弹簧-阻尼网络上进行模拟和控制实验。实证结果显示，少于5个自由度的压缩潜在动态可以以约4%的相对总误差准确重构原始系统的瞬态和稳态行为，同时准确重构总能量。利用这种系统压缩技术，我们介绍了一种基于模型的控制器，利用压缩模型的数学结构来调节受强减调控机械系统的配置。

基于神经自编码器的高维物理系统结构保持模型降阶与控制设计