TIME-OPTIMAL CONTROL AND DISTURBANCE COMPENSATION FOR A CLASS OF HYBRID SYSTEMS

摘要

In this paper the design of a time-optimal controller for a class of hybrid systems where the continuous part is modelled by integrator processes is outlined. The controller may be used for classical tracking problems where the goal is to follow a given trajectory. However, since the control law can be expressed as a function of the present continuous state it can also compensate for disturbances, acting as a traditional feedback controller where the continuous state is forced towards a desired set point.