Abstract
The paper presents a method for realizing the finite-time linear optimal control by means of a time-invariant state-feedback control law and a compensation input, and shows the procedure to compute the required compensation input. One of the advantages of the method is that the control system behaves as a time-invariant optimal regulator if there is no compensation input. The method was applied to the settling control of a bridge crane model with a micro-computer, and the experimental results which were in good agreement with the theory were obtained. It is shown that the method is far more practical as the means for constructing the finite-time terminal control than the one by the well-known time-varying state-feedback control law.
