TABLE 8.

Percentage change in performance in one-thousand-run (respectively) Monte Carlo analysis: double-integrator plant (with transport theorem) with control design based off double-integrator with transport theorem and noisy, mixed sensors (state and rate).

Method	State error	Rate error	Cost	Runtime
Classical p + V	—	—	—	—
LQR Optimal PD	−22%	1,379%	198%	0%
Time-optimal control	2,614%	3,204%	−95%	6%
Open loop optimal a	−111%	−114%	−84%	0%
Real-time optimal (RTOC) a	1,060%	429,645%	161,680%	4%
Switched RTOC a	−111%	−114%	−84%	−10%

^aReal-time optimal control ${\text{u}}_{\text{total}}^{\text{*}}=\widehat{a}t+\widehat{b}+{\overline{\omega }}^{\ast }\times \overline{\overline{J}}{\overline{\omega }}^{\ast }$ (with and without switching) and open-loop optimal control are visually indistinguishable from one another in the graphic depiction.