Trajectory planning in the infinity norm for linear control systems

When planning trajectories, a reasonable demand on the generated curves is that they interpolate through given points, or given intervals, at given sp ecified times, or that they go through these points or intervals at times l ying in specified time windows. This problem is addressed here as an optima l control problem, minimizing the infinity norm of the inputs of a discreti zed linear control system since the infinity norm minimization problem aris es naturally when doing trajectory planning for both controlled switching s ystems and non-holonomic robotic systems.