SHAPING OF SYSTEM RESPONSES WITH MINIMAX OPTIMIZATION IN THE TIME DOMAIN

A minimax problem is introduced for the terminal control of a generic dynamical system without disturbances. The maximum magnitude of the weighted output of the system is minimized over a finite interval by the control input of a prescribed class. Such important characteristics of the controlled system appear explicitly in the proposed problem as the maximum magnitude and settling property of the output. Two numerical examples are shown to illustrate the problem. A slewing experiment is also presented to demonstrate the application of the minimax optimal control.