Acceleration enhancement factor for damped systems subject to the discrete Proximate Time-Optimal Servomechanism

This paper presents an extension of the Proximate Time-Optimal Servomechanism (PTOS) to deal with damped systems. The traditionally called acceleration discount factor is replaced with an acceleration enhancement factor that allows the controller to be more aggressive in the presence of friction. The stability of the closed-loop system is assessed by casting the PTOS nonlinearities in a sector-bounded framework, leading to a set of linear matrix inequalities (LMIs) conditions to be satisfied by the controller parameters. Simulation results illustrate the effectiveness of the proposed methodology.