DYNAMIC INTERPOLATION AND APPLICATION TO FLIGHT CONTROL

To simplify the specification of a desired trajectory for some subset of the variables of a dynamic control system, it may be advantageous to designate a set of intercept points that the trajectory is required to pass through. The system controls can then be computed in terms of a spline function to meet these requirements for dynamic interpolation. Optimization of a cost function under continuity constraints can be embedded in the determination of spline coefficients to obtain certain desirable geometric properties of the resulting trajectory.