Optimal noncausal set-point regulation of scalar systems (Q1592902)

The main purpose of the paper is to propose a novel system inversion approach to the output tracking problem, i.e. to the set-point regulation of linear scalar minimum-phase systems. First, the authors determine, using closed-form expressions, a parameterized family of cause/effect pairs that allows an arbitrary smooth transition (in time parameter) between two given output set-points. The solution to this problem is based on the introduced concept of transition polynomials that smoothly shape the system output. In a second phase, two optimization procedures are proposed to solve, respectively, the relevant optimal output synthesis and the optimal input synthesis. More precisely, in the set of cause/effect pairs, the output transition time is minimized under constraints on the output derivatives and, respectively, under constraints on input and its derivatives. The effectiveness of the proposed approach is illustrated on two examples: a synthesis of elevator velocity profiles, and the performance improvement of a PID controller.