Energy Optimal Control of a Harmonic Oscillator with a State Inequality Constraint
In this article, the optimal control problem for a harmonic oscillator with an inequality constraint is considered. The applied energy of the oscillator during a fixed final time period is used as the performance criterion. The analytical solution with both small and large terminal time is found for a special case when the undriven oscillator system is initially at rest. For other initial states of the Harmonic oscillator, the optimal solution is found to have three modes: wait-move, move-wait, and move-wait-move given a longer terminal time.
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