Optimal near-minimum-time control
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The performance index that gives rise to optimally smooth near-minimum-time controls is presented. Performance measure penalizes a weighted combination of elapsed time and the first derivative of the controls. The control derivatives are penalized to smooth the control profiles and thereby discourage rapid switching between saturation levels. This is balanced with a constant parameter that weights the relative importance of elapsed time. The optimal control formulation leads to a multipoint boundary-value problem, which is solved using a multiple shooting method.
