Heuristically enhanced feedback control of constrained systems: the minimum time case

The authors propose a feedback controller based on the use of online optimization in the feedback loop. They present theoretical results showing that this controller yields asymptotically stable systems, provided that enough computation power is available to solve online a constrained optimization problem considerably simpler than the original. By making use of the special structure of time-optimal systems, the constrained optimization problem is further simplified, resulting in a substantial reduction of its dimensionality