Fig. 1 Schematic diagram of Pendubot More about this image found in Schematic diagram of Pendubot

Fig. 2 Phase portrait of the Pendubot orbit O d More about this image found in Phase portrait of the Pendubot orbit O d

Fig. 3 Simulation results for p = 1 without parameter uncertainty More about this image found in Simulation results for p = 1 without parameter uncertainty

Fig. 4 Simulation results for p = 1 with parameter uncertainty More about this image found in Simulation results for p = 1 with parameter uncertainty

Fig. 5 Simulation results for p = 6 with parameter uncertainty More about this image found in Simulation results for p = 6 with parameter uncertainty

Fig. 6 Simulation results for p = 6 with parameter uncertainty. The gain of the terminal weighting matrix used was five times higher than the value in Eq. (26) , the results of which are presented in Fig. 5 . More about this image found in Simulation results for p = 6 with parameter uncertainty. The gain o...

Fig. 1 Near-minimum-time control algorithm for a double integrator system More about this image found in Near-minimum-time control algorithm for a double integrator system

Fig. 2 True optimal control input via the new algorithm for triple integrator system ( x ( 0 ) = − [ 1 0 0 ] T ) More about this image found in True optimal control input via the new algorithm for triple integrator syst...

Fig. 3 Control input for non-optimal sampling period (triple integrator system, h = 1 s, x ( 0 ) = − [ 1 0 0 ] T ) More about this image found in Control input for non-optimal sampling period (triple integrator system, h...

Fig. 4 Control input for non-optimal sampling period (triple integrator system, h = 0.8 s, x ( 0 ) = − [ 1 0 0 ] T ) More about this image found in Control input for non-optimal sampling period (triple integrator system, h...

Fig. 5 Near-minimum-time control input via the new algorithm for triple integrator system ( x ( 0 ) = − [ 1 − 1 1 ] T ) More about this image found in Near-minimum-time control input via the new algorithm for triple integrator...

Fig. 6 States for triple integrator system ( x ( 0 ) = − [ 1 − 1 1 ] T ) More about this image found in States for triple integrator system ( x ( 0 ) = − [ 1 ...

Fig. 7 Near-minimum-time control input via new algorithm for rigid-flexible system ( ζ 1 = 0 , n m = 1 ) More about this image found in Near-minimum-time control input via new algorithm for rigid-flexible system...

Fig. 8 Near-minimum-time control input via new algorithm for unstable rigid-flexible system ( h = 1.14 s, ζ 1 = − 0.2 , n m = 1 ) More about this image found in Near-minimum-time control input via new algorithm for unstable rigid-flexib...

Fig. 9 Rigid mode states ( h = 1.14 s, ζ 1 = − 0.2 , n m = 1 ) More about this image found in Rigid mode states ( h = 1.14 s, ζ 1 = − 0.2 , n m = 1 ...