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In some dynamic systems, it is desirable to keep the state trajectory within a predefined (constrained) subset of the state space, referred to as an operating region. However, for certain systems, state trajectories leave the operating region in finite time due to system dynamics. To keep the state trajectory in the operating region as long as possible, a constrained time optimal control problem can be formulated. The analytical solution to the optimal control problem can be derived for a class of single-input planar affine control systems and constraints, which exist in a wide range of processes in xerography, bio-reaction, etc. A numerical example from a development xerographic process is used to demonstrate the feasibility of the analytical solution.