Minimum-Time Output Control by Reference Interpolation for Linear Multivariable Systems

For linear multivariable systems, we consider the minimum-time output control problem with explicit constraints on the inputs' intensity and piecewise-constant controls. We face the problem by imposing that each output passes through a given set of points. The proposed solution consists in repeatedly solving a system of linear equations until all constraints on inputs' intensity are satisfied. The proof of a local inverse relationship between the control effort and the control time is given, which provides a convergence guarantee for the algorithm. Numerical simulations performed on a well-known benchmark are reported to assess the effectiveness of the proposed method.