SHAPING COMMAND INPUTS TO MINIMIZE UNWANTED DYNAMICS

A sequence of impulses is determined which eliminates unwanted dynamics of a dynamic system. This impulse sequence is convolved with an arbitrary command input to drive the dynamic system to an output with a minimum of unwanted dynamics. The input sequence is time optimal in that it constitutes the shortest possible command input that results in no unwanted dynamics of the system subject to robustness and implementation constraints. The preshaping technique is robust under system parameter uncertainty and may be applied to both open and closed loop sy The Government has rights in this invention pursuant to Grant Number N00014-86-K-0685 awarded by the Department of the Navy.