Time optimal self-triggered feedback control
A dynamic programming based methodology is proposed for the design of aperiodic state feedback controllers for sampled data systems. The aperiodic sampling strategy follows a self-triggered control approach, i.e., the feedback controller computes both the control command and the next sampling instant. Three problem formulations are discussed for the self-triggered case: to reach a target in a given time with a minimal number of sampling instants; to reach a target no later than a given time with a minimal number of sampling instants; to reach the target in minimal time, with no more sampling instants than necessary. The control design is robust with respect to bounded disturbances.