Abstract
AbstractA new method for the minimum-time output trajectory problem is proposed based on the parameterization of the input signal in terms of block-pulse functions. The method computes the optimal time interval and the projection of the input signal in the block-pulse functions basis such that the output system interpolates the desired trajectory in a finite number of points taking into account possible input saturation constraints. In fact it provides a piecewise constant reference signal due to the particular chosen basis functions. No assumptions are made on stability and/or minimum-phase properties and the case of time-varying systems is also discussed. The reliability of the method is extensively highlighted by the presented examples with smooth, triangular, trapezoidal and parabolic output signals.
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