Monotone Smoothing Splines
نویسندگان
چکیده
The optimal solution to the problem of driving the output of a single-input, single-output linear control system close to given waypoints is analyzed. Furthermore, this smooth interpolation is done while the state space is constrained by an infinite dimensional, non-negativity constraint on the derivative of the output spline function. For the case when the acceleration is controlled directly this problem is completely solved. The solution is obtained by exploiting a finite parameterization of the problem, resulting in a dynamic programming formulation that can be solved analytically.
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