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An example of optimal control of a system with discontinuous state

  • William S. Levine
  • Felix E. Zajac
Session 9 Deterministic Control
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 62)

Abstract

An example of a system with discontinuities in the state vector is described. Such systems arise in manufacturing, animal and human locomotion, certain queueing problems and many other applications. Optimal control problems for such systems cannot be solved directly via dynamic programming or the maximum principle because both of these analytical tools require continuous state vectors. As a first step in the study of such problems, two alternate formulations for the dynamics of the example problem are given. Both of these formulations allow the solution of the resulting optimal control problem by elementary methods. One of the formulations produces the solution as the limit, as a parameter goes to zero, of the solutions to problems to which dynamic programming and the maximum principle apply.

The solution to the optimal control problem is given, in feedback form, throughout the state space. The optimal control includes a singular are that is not on the state boundary. The paper concludes with a brief discussion of more realistic and practical problems.

Keywords

Dynamic Programming Maximum Principle Optimal Control Problem Optimal Trajectory Inelastic Collision 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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References

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    Zajac, F.E. and W.S. Levine, "Novel experimental and theoretical approaches to study the neural control of locomotion and jumping, in Posture and Movement, edited by R.E. Talbott and D.R. Humphrey, Raven Press: New York, pp. 259–279 (1979).Google Scholar
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    Levine, W.S., F.E. Zajac, M.R. Belzer and M.R. Zomlefer, "Ankle controls that produce a maximal vertical jump when other joints are locked," IEEE Trans. on AC, Vol. AC-28, No. 11, pp. 1008–1016 (1983).Google Scholar
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    Levine, W.S., M. Christodoulou and F.E. Zajac, "On propelling a baton to a maximum vertical or horizontal distance," Automatica Vol. 19, No. 3, pp. 321–324 (1983).Google Scholar
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    Clarke, F.H., Optimization and Nonsmooth Analysis, John Wiley & Sons, New York, 1983.Google Scholar

Copyright information

© Springer-Verlag 1984

Authors and Affiliations

  • William S. Levine
    • 1
  • Felix E. Zajac
    • 2
    • 3
  1. 1.Department of EEUniversity of MarylandCollege ParkUSA
  2. 2.M.E. Dept.-DesignStanford UniversityStanfordUSA
  3. 3.R.R.&D. Center (153) VA Med. CenterPalo AltoUSA

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