抄録
This paper proposes a method for transferring the state of a dynamic system to a specified state within a specified time by using a compensation input, and presents a simple formula for obtaining the compensation input under a minimum input-norm condition. Input values at the initial and final times also can be specified, and it is shown that the proposed method includes solutions to fixed-final-state optimal control problems. The paper discusses the robustness of the final-state control performance of the proposed method as compared with feedback control itself, and it is shown that, under a certain condition, the final-state error with the compensation input is less than without it, even if the system parameters are changed. It is also shown that the method can be applied to a closed-loop system with a state observer or a feedback controller, as well as to a state feedback system. Simulation results of a positioning and swing control for a cart and pendulum system are shown as an example.
