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Transition-time optimization for switched-mode dynamical systems

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3 Author(s)
Egerstedt, M. ; Sch. of Electr. & Comput. Eng., Georgia Inst. of Technol., Atlanta, GA, USA ; Wardi, Y. ; Axelsson, H.

This note considers the problem of determining optimal switching times at which mode transitions should occur in multimodal, hybrid systems. It derives a simple formula for the gradient of the cost functional with respect to the switching times, and uses it in a gradient-descent algorithm. Much of the analysis is carried out in the setting of optimization problems involving fixed switching-mode sequences, but a possible extension is pointed out for the case where the switching-mode sequence is a part of the variable. Numerical examples testify to the viability of the proposed approach.

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Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 1 )