Interpolation-based, minimum-time piecewise constant control of linear continuous-time SISO systems

Abstract

We present a novel approach to the system inversion problem for linear, scalar (i.e. single-input, single-output, or SISO) plants. The problem is formulated as a constrained optimization program, whose objective function is the transition time between the initial and the final values of the system’s output, and the constraints are (i) a threshold on the input intensity and (ii) the requirement that the system’s output interpolates a given set of points. The system’s input is assumed to be a piecewise constant signal. It is formally proved that, in this frame, the input intensity is a decreasing function of the transition time. This result lets us to propose an algorithm that, by a bisection search, finds the optimal transition time for the given constraints. The algorithm is purely algebraic, and it does not require the system to be minimum phase or nonhyperbolic. It can deal with time-varying systems too, although in this case it has to be viewed as a heuristic technique, and it can be used as well in a model-free approach. Numerical simulations are reported that illustrate its performance. Finally, an application to a mobile robotics problem is presented, where, using a linearizing pre-controller, we show that the proposed approach can be applied also to nonlinear problems.