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Constrained Optimal Control of Hybrid Systems with a Linear Performance Index


M. Baotic, F.J. Christophersen, M. Morari

IEEE Transactions on Automatic Control, vol. 51, no. 12, pp. 1903--1919

We consider the constrained finite and infinite time optimal control problem for the class of discrete-time linear hybrid systems. When a linear performance index is used the finite and infinite time optimal solution is a piecewise affine state feedback control law. In this paper we present algorithms that compute the optimal solution to both problems in a computationally efficient manner and with guaranteed convergence and error bounds. Both algorithms combine a dynamic programming exploration strategy with multi-parametric linear programming and basic polyhedral manipulation.


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M. Morari

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  author       = {M. Baoti{\'c} and F. J. Christophersen and
                  M. Morari},
  title	       = {{Constrained Optimal Control of Hybrid Systems With
                  a Linear Performance Index}},
  journal      = {IEEE Trans.~on Automatic Control},
  year	       = {2006},
  month	       = dec,
  number       = 12,
  volume       = 51,
  pages        = {1903--1919}
  keywords     = {constrained systems, finite time, infinite time,
                  optimal control, discrete-time, hybrid systems,
                  piecewise affine systems, dynamic programming,
                  multi-parametric linear program},
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