Output residence time control

Abstract

The problem of residence time control is extended to systems with outputs. Necessary and sufficient conditions for output residence time controllability in linear systems with small amounts of additive noise are derived. Design techniques for state-feedback controllers are developed and applied to a robotics control problem. The approach is based on an extension of the asymptotic first passage time theory to output processes.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>