Time-optimal servomechanisms-discrete-time estimation of the optimum switching function

The author discusses the discretization of a nonlinear continuous controller which aims to achieve time-optimal control of a servomechanism. Steps are taken in the discretization to make the controller robust to quantization noise, to minimize the amount of computation required, and to minimize the memory capacity required in the computer. The discrete controller requires a position sensor only. Experimental results are presented which confirm that the discrete controller performs in a similar manner to the continuous controller.<>