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Constrained Optimal Control of Hybrid Systems With a Linear Performance Index

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3 Author(s)
Baotic, M. ; Autom. Control Lab., Eidgenossische Tech. Hochschule, Zurich ; Christophersen, F.J. ; Morari, M.

We consider the constrained finite and infinite time optimal control problem for the class of discrete-time linear hybrid systems. When a linear performance index is used the finite and infinite time optimal solution is a piecewise affine state feedback control law. In this paper, we present algorithms that compute the optimal solution to both problems in a computationally efficient manner and with guaranteed convergence and error bounds. Both algorithms combine a dynamic programming exploration strategy with multiparametric linear programming and basic polyhedral manipulation

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Automatic Control, IEEE Transactions on  (Volume:51 ,  Issue: 12 )