A time-optimal control algorithm for digital computer control

A time-optimal control algorithm for digital computer control allowing bounds on control variables and state variables is presented. Through linear programming techniques a time-optimal sequence is computed by using a linear discrete model of the process. For real-time applications feedback control is achieved by recalculating the control sequence each sampling period. In addition, an adaptive control strategy based on on-line estimation of the state variables and the parameters of the system is introduced. In order to be able to apply the algorithm in a real-time environment, computational efficiency is emphasized. An application of the algorithm to a sixth-order multivariable system is given.