Timothy C Tuttle

US Patent:

6694196, Feb 17, 2004

Filed:

May 21, 2002

Appl. No.:

10/152407

Inventors:

Timothy D. Tuttle - Cambridge MA
Warren P. Seering - Sherborn MA

Assignee:

Massachusetts Institute of Technology - Cambridge MA

International Classification:

G05B 1302

US Classification:

700 28, 700 29, 700 33

Abstract:

A system for and method of determining an input command profile for substantially any dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one state to another state. The present invention involves identifying characteristics of the dynamic system, selecting a command profile which defines an input to the dynamic system based on the identified characteristics, wherein the command profile comprises one or more pulses which rise and fall at switch times, imposing a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determining the switch times for the input to the dynamic system based on the command profile and the plurality of constraints. The characteristics may be related to poles and zeros of the dynamic system, and the plurality of constraints may include a dynamics cancellation constraint which specifies that the input moves the dynamic system from a first state to a second state such that the dynamic system remains substantially at the second state.