http://popups.lib.uliege.be/1373-5411/index.php?id=2212 Index terms fr 0 http://popups.lib.uliege.be/1373-5411/index.php?id=2214 This paper discusses the design of constrained controllers based on the modes decomposition, with respect to the symbolic solutions. A triple integrator plant has been used to illustrate the design. The paper is focused on the synthesis in a computer algebra system MAPLE, which is shown "step by step" in the paper. The designed control can be applied to a broader class of systems. Tue, 30 Jul 2024 13:48:57 +0200 Tue, 30 Jul 2024 13:49:06 +0200 http://popups.lib.uliege.be/1373-5411/index.php?id=2214 http://popups.lib.uliege.be/1373-5411/index.php?id=2207 The constrained control of triple integrator based on the modes decomposition is introduced in this paper. The design combines the well known time optimal control with the linear pole assignment control, i.e. the control consist of n phases similar to the time optimal control, however the transients between these phases are "smooth" and the dynamics of the transients is given by the closed loop poles. Tue, 30 Jul 2024 13:41:25 +0200 Tue, 30 Jul 2024 13:41:30 +0200 http://popups.lib.uliege.be/1373-5411/index.php?id=2207