On the sensitivity of a time-optimal positional control

A second-order differential equation with a discontinuous and nonlinear right-hand side has been taken as the model for positional mechanisms. This model covers a large class of motion resistances, particularly all types of friction. Sensitivity of time-optimal positional control to motion resistances and switching function variations has been investigated. This correspondence also contains some suggestions for practical control structure synthesis. Numerical examples help to illustrate the theoretical analysis.