Time-optimal control algorithm for microprocessor with asymmetrical bounds

A microprocessor-based time optimal control algorithm is presented. The method is based on the bang-bang approach which incorporates an asymmetrical control strategy to allow load disturbance. The implementation is carried out in such a way as to minimise the number of real-time computations. A relationship involving the sampling period, the asymmetrical value and the amplitude disturbance has been developed. The time-response deterioration as a consequence of the asymmetrical control signal is also evaluated. The method has been applied to a second-order process, and experimental results are presented.