Optimal control of switched hybrid systems

This paper considers the optimal control of switched hybrid systems in which the switching sequence is not specified. First, a depth first search is used to find all the possible paths between the initial subsystem and the terminal subsystem. Then, the switching points are fixed through a nonlinear programming method, and hence the optimal control of switched hybrid systems is reduced to the conventional optimal control problem. Finally, An estimation of the lower bound and the upper bound of cost in each path is given in order to reduce the computational complexity.