Deriving and verifying time-optimal commands for linear systems

In high-performance systems that require rapid and precise motion, time-optimal control techniques are regularly employed. Recently proposed techniques have demonstrated that these time-optimal commands can be derived for systems with complicated linear dynamics. When coupled with a strategy for verifying optimality, this derivation scheme can be guaranteed to yield only time-optimal results. This paper outlines a general method for deriving commands and then describes a detailed procedure for verifying their optimality. Experimental results reveal that this approach is both practical and effective.