Suboptimal control of a class of hybrid systems

For the case of suboptimal control of a class of hybrid systems, with system dynamics described by the equation z.(t)= f(z(t),y(t)), z(0)=z₀, where f(.) is a vector function with its values in Rⁿ, z(t) is n-vector of phase variable, y(t) is m-vector of controls which are actually defined as outputs of some aggregate, an attempt is made to determine an admissible sequence of goals which minimizes the cost function