Using a Chebyshev Approach for the Minimum-time Open-loop Control of Constrained Mimo Systems

In this paper we propose the use of a technique based on Chebyshev polynomials approximation for determining the minimum-time rest-to-rest openloop control law for multi-input multi-output (MIMO) continuous-time systems with input and output constraints. The optimal input can be determined, without discretising the system, by suitably approximating the state variables and the input signals by means of Chebyshev series and by subsequently solving a constrained optimizsation problem. Simulation results confirm the effectiveness of the technique.