Abstract
ABSTRACT A method of determining the control action of a piecewise linear system to minimise a quadratic cost function is presented. The piecewise linear system considered is described by a different set of linear differential equations for each of two regions of the state space ; the two regions are separated by a hyperplane. It is shown that, with certain restrictions, conventional linear control theory can be used, provided the time taken by an optimal trajectory to reach the separating hyperplane can be determined. A mothod for determining this time is given, thus completing the solution.
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