Suboptimal control of a class of discrete-continuous time systems

The synthesis of nonperiodic piecewise-constant feedback gains for a class of nonlinear systems with nonquadratic performance indices is presented in this paper. A mean-square error type performance index measuring the difference between the closed-loop and the open-loop control is minimized. A gradient algorithm is then used to synthesize the feedback gains and switching times for the suboptimal control law. The linear suboptimal control law so obtained is then compared to other recently published results.