This paper presents a method for creating multi-switch bang-bang commands to produce rest-to-rest command inputs for a floating oscillator system. The advantage of the proposed method is its simplicity and robustness. The amplitude and switch times of the input commands are computed from the 1) desired move distance, 2) the system parameters and 3) the desired level of robustness. The robustness of the commands to model uncertainty is measured by the percent overshoot of the step response. For the proposed method, numerical simulations of the floating oscillator demonstrate that both the number of switches in the command and the duration of the command affect the overall robustness.

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