Dynamical systems with active singularities: Input/state/output modeling and control

Joseph Bentsman, Boris M. Miller, Evgeny Ya Rubinovich

Research output: Contribution to journalArticlepeer-review


Controller synthesis setting for systems with active, or controlled, singularities is extended to the case of incomplete information. The general physically-based description of mechanical systems with controlled singularities and sensing in the singular phase that also admits control over observations is developed. An example is presented that demonstrates the computation of a singular phase sensor-based optimal control law. It is found that optimal control of this class of systems should, in general, be sought in the class of complex signals termed temporal multi-impacts - very short duration isolated sets of temporally sequenced impulses. The system subject to these impacts is shown to exhibit a novel mode of controlled dynamic behavior - the interlaced singular phase.

Original languageEnglish (US)
Pages (from-to)1741-1752
Number of pages12
Issue number7
StatePublished - Jul 2008


  • Constraints
  • Control over observations
  • Controlled singularities
  • Mechanical systems
  • Optimal control
  • Temporal multi-impact

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering


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