Impulse Control Inputs and the Theory of Fast Feedback Control

Abstract

This paper deals with problems of impulse control which allow control inputs consisting not only of delta functions but also of their higher derivatives (impulses of higher order). The controls are sought for in the form of feedback strategies which leads to the application of respective generalized dynamic programming techniques, where the role of traditional Hamilton–Jacobi–Bellman equations is taken by respective variational inequalities of similar structure. Further proposed are physically realizable approximations which converge to these ideal solutions. Since the ideal solutions allow to transfer a controllable system from one given position to another in zero time, their approximations lead us to physically realizable “fast” controls with piecewise constant realizations. Such feedback control inputs are then compared with traditional bang-bang type strategies and turn out to be more robust. Computational schemes for related problems of reachability and control synthesis are further described with examples of damping oscillating systems of high order in minimal time being demonstrated.