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A Study of Under Actuator Dynamic System by Comparing between Minimum Energy and Minimum Jerk Problems

Authors: Tawiwat V., Phermsak S., Noppasit C.


This paper deals with under actuator dynamic systems such as spring-mass-damper system when the number of control variable is less than the number of state variable. In order to apply optimal control, the controllability must be checked. There are many objective functions to be selected as the goal of the optimal control such as minimum energy, maximum energy and minimum jerk. As the objective function is the first priority, if one like to have the second goal to be applied; however, it could not fit in the objective function format and also avoiding the vector cost for the objective, this paper will illustrate the problem of under actuator dynamic systems with the easiest to deal with comparing between minimum energy and minimum jerk.

Keywords: minimum energy, Under actuator, Dynamic optimal control, Minimumjerk

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