Minimum-effort time-optimal control of linear discrete systems†

An iterative algorithm based on linear programming for solving the minimum-time minimum-effort discrete control problem for linear time-invariant systems is presented. The algorithm is based on transforming the minimum-effort problem to an equivalent linear programming one. Some interesting properties of the iterative linear programming algorithm are shown which result in reducing the computational time and storage memory required. Numerical examples are provided to indicate the efficiency of the proposed method.