Optimal stabilization of modal control with variable structure

The paper shows that a control strategy based on the changing structure of a control system, ie, on controlled jump changes of the control system parameters, ensures more rapid stabilization than a control system with constant parameters. An algorithm of the time-optimal stabilization is designed in accordance with the Pontriagin's maximum principle in such a way that the resulting behaviour is non-periodic. The designed control algorithm divides the state space into segments in which the parameters take their limit values. The control problem is resolved for third-order and higher linear systems. Issues of system robustness are demonstrated by the example of stabilizing a variably loaded gantry crane.