Prévia do material em texto

Problem 9.17PP
Compute and sketch the optimal reversal curve and optimal control for the minimal time control of 
the plant
l«l 0.
We can then write in general, for all Xj = sgn (;t^)ln^l + |x^p - x ̂■ 
Therefore, the control law is
u = -sg n [j;i + I , - sgn(jrj)ln(l + |j^D]