Adaptive proximate time-optimal servomechanisms: Discrete-time case

Following a brief review of the continuous time proximate time-optimal servomechanism (PTOS), a discrete time PTOS is developed, along with conditions for its stability. An algorithm is proposed for adapting PTOS when the plant parameters are not known yielding APTOS (adaptive PTOS). Under ideal conditions APTOS is shown to be uniformally asymptotically stable. Simulation results demonstrate the predicted performance, and experimental results validate the practicality of APTOS.