Quadratic programming for monotone control theoretic splines

In this article, we solve the problem of monotone control theoretic splines. Monotone control theoretic splines have been solved only when the target system is the second-order integrator 1/s², but not for other cases. To solve this, we first formulate the problem as semi-infinite quadratic programming, and then we adopt discretization technique. The problem is reduced to a finite-dimensional quadratic programming, which can be easily solved by numerical computation. We also illustrate examples to show the effectiveness of our method.