TIME SUB-OPTIMAL CONTROL STRUCTURES

Piotr Kowalski - Karol Krawiec

   Practical concepts for time sub-optimal feedback controllers are presented in this paper, thanks to the generalization of a classical switching curve to a switching region. Two robust structures, the so-called hard and soft ones, have been worked out and described with details. Two aspects of engineering practice are investigated: the issue of velocity limitation and the generalization of a target set to any point in the state space, especially including cases where a target position must be reached with a given velocity.

Keywords: time-optimal control, suboptimal feedback controller

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