METHOD AND APPARATUS FOR CREATING TIME-OPTIMAL COMMANDS FOR LINEAR SYSTEMS

The system described herein determines an input command profile for a dynamic system that can be modeled as a linear system, the input command profile for transitioning an output of the dynamic system from one point to another point. The system identifies characteristics of the dynamic system, and then selects a command profile which defines an input to the dynamic system based on the identified characteristics. The command profile comprises one or more pulses which rise and fall at switch times, and the command profile is useable with substantially any dynamic system that can be modeled as a linear system. The system then imposes a plurality of constraints on the dynamic system, at least one of the constraints being defined in terms of the switch times, and determines the switch times for the input to the dynamic system based on the command profile and the plurality of constraints.