目標原点近傍に線形領域をもつデュアルモード最小時間制御

抄録

Ordinary dual-mode control systems have many good features. But their major disadvantage is the possibility of instability at the mode switching boundary. A special dual-mode control system is presented for the time optimal control for a step input.
Our dual-mode control system consist of two parallel path which are a linear control path for small state deviation and a relay control path for large state deviation.
We avoid the instability at mode switching boundary using an elliptic linear domain. The swiching boundary in the bang-bang domain is obtained with the maximum principle.
The results of the experiment with the analogue computer show the possibility of being practically applicable.