Minimum energy control for multi-input linear digital systems in z-domain

This paper proposes the design method of the minimum energy controller in the z-domain for a multi-input linear time-invariant discrete-time system. The controller is expressed by the dynamic state feedback, and induced from the open-loop expression (or the closed-loop expression with time-varying gains) in the t-domain, by using the property that the state settles to zero within a finite time. Since this controller has constant parameters which do not depend on the initial state of the system, it is more useful to analyze, synthesize and implement the feedback system. Furthermore, the stability and the finite-time settling property of the feedback system are guaranteed