An analytical comparison of optimal output transition and polynomial trajectories

Abstract

This paper compares the solution of the optimal output transition approach with polynomial trajectories. Although the optimal output transition approach can guarantee the optimal output trajectory, the complex problem formulation tends to be required, especially for nonlinear systems. The aim of this paper is to investigate differences between the optimal output transition approach and the polynomial-based approach. Based on the standard first and second order linear system examples, the output transition trajectory can be obtained by using the polynomial-based approach without any significant differences when compared to the optimal output transition approach.