Robust, proximate time-optimal controller for second-order systems

The paper presents a robust, proximate time-optimal controller for second-order systems. We simplify the ideal switching curve, and prove its stability and proximate time-optimality. To balance time and robustness. Bang-bang control and time-varying sliding mode control are combined and the time optimal control idea is incorporated into the time-varying sliding mode control design. The approach used here to derive the time-varying sliding surface is rarely used before. Simulation results demonstrate the effectiveness and practicality of the proposed controller with near time optimal performance.