Abstract: Theoretical performance limits of controlled systems which interact with dynamic environments are analyzed from consideration of simple, single-axis mass-spring-damper systems. A measure of interaction ...

Abstract: A technique is presented for controlling second-order, nonlinear systems using a combination of bang-bang time-optimal control, sliding-mode control, and feedback linearization. Within the control ...

Abstract: An efficient algorithm is presented for solving time-optimal control for a restricted class of manipulators: balanced, decoupled manipulators. It is shown how the dynamics of such manipulators ...