Numerical synthesis of the time optimal nonlinear state controller via mixed integer programming

A novel design technique for a nonlinear feedback control law, which drives the state of a linear discrete-time system to the origin in minimum-time subject to magnitude constraints on the state and actuator variables as well as subject to constraints on the actuator rate, is presented. The off-line, optimization-based design technique requires the solution of a series of mixed integer linear programs (MILP), for which fast and robust algorithms exist.