Mode Switching Control Design with Initial Value Compensation based on Jerk Minimization

Abstract

In this paper, we present a mode switching controlmethod with initialvalue compensation in order to minimize jerkand to improve transient response. We propose the linearquadratic cost function of state variables and jerk, and minimizethis quadratic cost function. From minimizing quadratic functions,the initialvalue of the controller, which guarantees the minimumcost for the state and the jerk, is derived. To verify effectivenessof proposed controlmethod, the simulation is illustrated tovalidate the performance of the proposed method.