Title :
An efficient algorithm for computing the state feedback optimal control law for discrete time hybrid systems
Author :
Borrelli, Francesco ; Baotic, Mato ; Bemporad, Alberto ; Morari, Manfred
Author_Institution :
Inst. fur Atutomatik, Swiss Fed. Inst. of Technol., Zurich, Switzerland
Abstract :
In this paper we propose an efficient algorithm for computing the solution to the finite time optimal control problem for discrete time linear hybrid systems with a quadratic performance criterion. The algorithm is based on a dynamic programming recursion and a multiparametric quadratic programming solver.
Keywords :
discrete time systems; dynamic programming; optimal control; state feedback; discrete time linear hybrid systems; dynamic programming recursion; finite time optimal control problem; multiparametric quadratic programming solver; quadratic performance criterion; state feedback optimal control law; Algorithm design and analysis; Control systems; Dynamic programming; Feedback control; Jacobian matrices; Optimal control; Quadratic programming; Size control; State feedback; State-space methods;
Conference_Titel :
American Control Conference, 2003. Proceedings of the 2003
Print_ISBN :
0-7803-7896-2
DOI :
10.1109/ACC.2003.1242468
