On the controllability set of an inertially controlled system (Q922415)

The time-optimal problem \(T\to \min\) is considered under the conditions \(\dot x(t)=Ax(t)+bu(t)\), \(x(0)=x_ 0\), \(x(T)=0\), \(u(t)\in I_ n(T)=\{u(t)| u(0)=u(T)=0\), u(t)\(| \leq 1\), \(| \dot u(t)| \leq 1\), almost everywhere on [0,T]\(\}\), where A is a constant \(n\times n\)-matrix, \(b\in E^ n\), the pair (A,B) is controllable, the eigenvalues of A are real. The set of controllability \[ X(T)=\{x\in E^ n| x=- \int^{T}_{0}e^{-sA}bu(s)ds,\quad u(t)\in I_ n(T)\}, \] the set of switching points \(\Lambda_ n(T)=\{\theta =(\theta_ 1,...,\theta_ n)\in E^ n| \theta_ 1\geq 0\); \(\theta_ j\geq \theta_{j-2}\), \(j=2,...,n+1\), \(\theta_{j+1}+2\geq \theta_ j\), \(j=1,...,n-1\); \(\theta_ n\leq T\), \(\theta_ 0\equiv 0\), \(\theta_{n+1}\equiv T\}\) and the operator F(\(\cdot,T):\Lambda_ n(T)\to X(T)\), defined by \[ F(\theta,T)=\sum^{n}_{j=0}(- 1)^{j+1}\{\int^{\beta_{2j+1}}_{\beta_{2j}}(s-\theta_ j)e^{- sA}bds+\int^{\beta_{2j+2}}_{\beta_{2j+1}}e^{-sA}bds\}+(-1)^ n\int^{T}_{\beta_{2n+2}}(s-T)e^{-sA}bds, \] where \[ \beta_{2j+1}=\min \{\theta_ j+1,(\theta_ j+\theta_{j+1})\},\quad \beta_{2j+2}=\max \{\theta_{j+1}-1,(\theta_ j+\theta_{j+1})\},\quad \beta_ 0=0,\quad j=0,...,n \] are introduced. It is shown that the equalities \(F(\Lambda_ n(T),T)=X(T)\), \(F(\partial \Lambda_ n(T),T)=\partial X(T)\), F(int \(\Lambda\) \({}_ n(T),T)=int X(T)\) are satisfied for all \(T>0\) and that the operators F(\(\cdot,T)\), \(F^{-1}(\cdot,T)\) are continuously differentiable on int \(\Lambda\) \({}_ n(T)\) and int X(T) respectively.