Computer Control of Linear Process with Inequality Constraints

Abstract

This paper is concerned with a practical algorithm for the on-line computer control of a linear process with inequality constraints on the control forces. The control signals are determined so as to force the disturbed state to the desired state as soon as possible. The control concept is essentially based on a time-optimal control for a linear discrete-time system without inequality constraints on the control forces, and on Lyapunov's direct method. The control vector, which is suboptimal in the sense of minimum-time control, can be determined immediately by means of performing the product of the constant matrix and the state vector or by solving the linear optimization problem. Because the procedure of calculation is straight-forward and does not require much computer time or excessive computer memory, this algorithm seems to be a powerful tool for a computer control system.