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Research Papers

Time-Optimal Output Transition for Minimum-Phase Systems

[+] Author and Article Information
Jennifer Haggerty

e-mail: jrh6@buffalo.edu

Tarunraj Singh

Professor
Fellow of ASME
e-mail: tsingh@buffalo.edu
Department of Mechanical
and Aerospace Engineering,
University at Buffalo,
Buffalo, NY 14260

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 3, 2012; final manuscript received July 10, 2013; published online August 23, 2013. Assoc. Editor: Won-jong Kim.

J. Dyn. Sys., Meas., Control 135(6), 061014 (Aug 23, 2013) (11 pages) Paper No: DS-12-1398; doi: 10.1115/1.4025032 History: Received December 03, 2012; Revised July 10, 2013

The time-optimal output transition control problem for stable or marginally stable systems with minimum-phase zeros is discussed in this paper. A double integrator system with a real left-half plane zero is used to illustrate the development of the time-optimal output transition controller. It is shown that an exponentially decaying postactuation control profile is necessary to maintain the output at the desired final location. It is shown that the resulting solution to the output transition time-optimal control profile can be generated by a time-delay filter whose zeros and poles cancels the poles and zeros of the system to be controlled. The design of the time-optimal output transition problem is generalized and illustrated on the benchmark floating oscillator problem.

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Figures

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Fig. 1

Variation of maneuver and switch time

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Fig. 2

Output constraint for postactuation

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Variation of maneuver and switch time

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Floating oscillator

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Fig. 5

Three-switch postactuation control profile

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Large maneuver three-switch postactuation

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Switch and maneuver time

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Single-switch postactuation control profile

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Small maneuver single-switch postactuation

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Fig. 10

Comparison of maneuver times

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