Abstract
The discrete-time optimal control law denoted fhan is often used in practical implementations as well as in the research field of control systems. The present paper shows that by reevaluating the design conditions, the control loop driven by fhan achieves a permanent oscillating regime instead of a stable state. Under these circumstances, the fhan control law becomes a suboptimal solution. To further improve the behaviour, a complementary control action is proposed based on the proper discrete-time model of the double-integrator plant in order to eliminate the oscillating regime and stabilize the control loop. The effects of the proposed solution are illustrated through examples. From the practical point of view, implementing the solution is immediate because only the resources needed for the implementation of fhan control law are used.
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