Optimal control of constrained piecewise affine discrete time systems using reverse transformation

This paper describes a reverse transformation procedure for characterizing the solution of several optimal control problems usually addressed by parametric programming; the method is used to obtain characterizations of the solutions to the problems of optimal control of piecewise affine discrete-time systems with a quadratic (the generally preferred option) or piecewise affine cost function (which includes _∞ and ₁ cost functions).