The minimum energy control problem for positive continuous-time linear systems with bounded inputs is formulated and solved. Sufficient conditions for the existence of a solution to the problem are established. A procedure for solving the problem is proposed and illustrated with a numerical example.

Design of model following control system (MFCS) for nonlinear system with time delays and disturbances is discussed. In this paper, the method of MFCS will be extended to nonlinear system with time delays. We set the nonlinear part $f\left(v\right(t\left)\right)$ of the controlled object as $\left|\right|f\left(v\left(t\right)\right)\left|\right|\le \alpha +{\beta \left|\right|v\left(t\right)\left|\right|}^{\gamma }$, and show the bounded of internal states by separating the nonlinear part into $\gamma \ge 0$. Some preliminary numerical simulations are provided to demonstrate the effectiveness of the proposed method.

This paper is devoted to the way point following motion task of a unicycle where the motion planning and the closed-loop motion realization stage are considered. The way point following task is determined by the user-defined sequence of waypoints which have to be passed by the unicycle with the assumed finite precision. This sequence will take the vehicle from the initial state to the target state in finite time. The motion planning strategy proposed in the paper does not involve any interpolation...