Method and apparatus for creating time-optimal commands for linear systems
First Claim
1. A method of determining an input command profile for a dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state, the method comprising the steps of:
- identifying characteristics of the dynamic system;
selecting a command profile which defines an input to the dynamic system based on the characteristics identified in the identifying step, the command profile comprising one or more pulses which rise and fall at switch times and the command profile being useable with substantially any dynamic system that can be modeled as a linear system;
imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times; and
determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints.
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Abstract
A system for and method of determining an input command profile for substantially any dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state. The present invention involves identifying characteristics of the dynamic system, selecting a command profile which defines an input to the dynamic system based on the identified characteristics, wherein the command profile comprises one or more pulses which rise and fall at switch times, imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. The characteristics may be related to poles and zeros of the dynamic system, and the plurality of constraints may include a dynamics cancellation constraint which specifies that the input moves the dynamic system from a first state to a second state such that the dynamic system remains substantially at the second state.
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28 Claims
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1. A method of determining an input command profile for a dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state, the method comprising the steps of:
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identifying characteristics of the dynamic system;
selecting a command profile which defines an input to the dynamic system based on the characteristics identified in the identifying step, the command profile comprising one or more pulses which rise and fall at switch times and the command profile being useable with substantially any dynamic system that can be modeled as a linear system;
imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times; and
determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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13. An apparatus which determines an input command profile for a dynamic system that can be monitored as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state, the apparatus comprising:
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a memory which stores computer-executable process steps; and
a processor which executes the process steps stored in the memory so as (i) to identify characteristics of the dynamic system, (ii) to select a command profile which defines an input to the dynamic system based on identified characteristics, the command profile comprising one or more pulses which rise and fall at switch times and the command profile being useable with substantially any dynamic system that can be modeled as a linear system, (iii) to impose a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and (iv) to determine the switch times for the input to the dynamic system based on the command profile and the plurality of constraints.
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Specification