Optimal trajectory generation for linear systems

Many design algorithms have been derived to help ensure that a closed-loop system closely tracks desired trajectories. In contrast, few algorithms have concentrated on conditioning the desired trajectories so they can be easily tracked. This study uses concepts from optimal control theory to pre-process desired trajectories. The resulting optimal trajectories often differ only slightly from the original trajectory, yet the performance is significantly improved. The technique is applied to the 41 state model of a NASA deep space network antenna