Nonlinear minimum-time control with pre- and post-actuation

摘要

This article studies the time-optimal output transition problem to change the system output, from an initial value y(t) = y (for all time t ≤ 0) to a final value y(t) = y (for all time t ≥ T), for invertible nonlinear systems. The main contribution of the article is to show that the use of pre- and post-actuation input outside the transition interval Π_(T) = [0, T] can reduce the transition time T beyond the standard bang-bang-type inputs for optimal state transition. The advantage of using pre- and post-actuation is demonstrated with an illustrative nonlinear example.