TIME-OPTIMAL CONTROL ALGORITHM FOR 2-TIME-SCALE DISCRETE-SYSTEMS - A MULTIRATE APPROACH

In this paper, the time-scale separation technique is applied to a discrete two-time-scale system for obtaining the time-optimal control law. The main important feature of the proposed algorithm is that it incorporates a multirate approach, where the computations for slow and fast subsystems are carried out in different time-scales. It has been shown that following the proposed algorithm, considerable storage and computational-time reduction can be achieved, while maintaining a closeness between the continuous and discrete-time solutions. These features make the proposed method an attractive one for on-line computation of time-optimal control.