An On Line Solution to Sampled-data Time Optimal Control†

The problem considered is that of designing a special purpose computer that is rapid enough to provide an on line solution to the sampled-data time optimal control problem in which the inputs are subjected to amplitude constraints. The computer is used to simulate a differential equation whoso steady state solution yields the input sequence that will take the sampled system from a given initial state to the reachable (in a given number of sampling periods) state closest to a specified terminal state. The time optimal control problem is solved by increasing the number of sampling periods until the specified terminal state is reachable. Preliminary results with a fourth order system indicate that computer settling times of a. few milliseconds can be obtained.