Abstract
Control using a sequence of ‘taps’, in contrast to the usual smooth control, is shown to fit within the established intermittent control framework. In particular, a specially designed generalised hold gives rise to tapping behaviour optimised according to the underlying linear-quadratic design. Both fixed-interval and event-driven tapping are included in this approach and some basic stability analysis is given. Illustrative examples are presented and the advantages of tapping in the context of electromechanical servo systems with friction are explored using a laboratory experiment.
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