Nonlinear minimum-time feedforward control for output transition with pre- and post-actuation

This article poses and solves the time-optimal output transition problem to change the system output, from an initial value to another for invertible nonlinear systems. The main contribution of the article is to show that the use of pre- and post-actuation input outside the transition interval can reduce the transition time beyond the standard bang-bang-type inputs for optimal state transition. The approach is illustrated with a nonlinear example.