Optimal robust state-feedback control of nonlinear systems: minimal time to target

The design of optimal robust state-feedback controllers that guide a system to a target in minimal time is considered under constraints on the maximal input amplitude and the maximal overshoot of the controlled system. It is shown that such robust feedback controllers exist for a rather broad family of nonlinear systems. It is also shown that optimal performance can be approximated by state-feedback controllers that are relatively easy to design and implement.