One of the objectives in control theory is to ensure that a control system converges to a target state in the#R##N##R##N#shortest possible time. To achieve that objective, we studied a control method that combines the Lagrangian,#R##N##R##N#the Hamiltonian, and a bang-bang controller. Referred to as energy evaluation control (EEC), this method#R##N##R##N#evaluates the control state using the Lagrangian, and evolves the control output using the Hamiltonian. Here,#R##N##R##N#the Lagrangian and the Hamiltonian are defined for the deceleration field. The control result from the EEC#R##N##R##N#is fast and robust. Moreover, EEC has the same control strategy as the sliding-mode control, and hence can#R##N##R##N#be incorporated within it.
['Yasushi Yamamoto', 'Shinya Hasegawa', 'Satoru Iwamori', 'Shigeru Yamaguchi']
Study of Energy Evaluation Control