An algorithm for the computation of the minimum energy solution of systems with retardation

Abstract

The minimum energy optimization problem is considered for linear systems having time delay. An algorithm is presented which demonstrates how to compute and to simply implement such an optimal feedback control law. The optimal control law is shown to be an L2 function if the original system has the property of controllability to a function as defined by Weiss (1970). From the algorithm presented, the optimal control can be realized on line in real time using only analogue elements. The applicability of the approach is demonstrated by a sixth-order example.