## A new technique for the design of a digital control system |

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### Contents

LINEAR TIME INVARIANT CONTROLLER | 4 |

from the Ideal Trajectory | 14 |

TIME VARYING CONTROLLER 3 3 | 33 |

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### Common terms and phrases

accelerated or decelerated actual trajectory BLOCKDIAGRAM control constraint control saturation Cornell University Deley and Franklin DIGITAL CONTROL SYSTEM drive the system dt i.e. duration for trajectory final state x(tf follows given by equation i.e. the performance ideal response ideal trajectory corresponding infinite stages regulator initial disturbance x(0 initial state x(T integral quadratic performance INVARIANT CONTROLLER line x(t linear control linear programming linear time-invariant controller Matrix Maximum Deviation minimizing NT minimum-time problem n-th order system National Taiwan University optimal control optimal policy optimization problem performance value given phase plane physical realization plotted in Figure Principle of Optimality proposed controller region of linear sample and hold sampling instant sampling period saturated region sec FIGURE shown in Figure small as compared stages is unsaturated stages regulator problem SYSTEM BEING STUDIED system enters SYSTEM FOR EXAMPLE tachometer thesis time-varying controller tion Trajectory x(t transfer function transient response Tu2(t))dt with initial Tx(t Value of x(t xQ(t