The scope of this thesis lies in the field of constrained optimal control more precisely it is concerned with the constrained finite time optimal control of two system classes piecewise affine systems and linear parameter varying systems firstly constrained finite time optimal control cftoc of piecewise affine pwa systems is . Optimal control of constrained piecewise affine systems article in lecture notes in control and information sciences 359 january 2007 with 11 reads doi 101007 978 3 540 72701 9. This book focuses on the efficient and systematic computation of closed form optimal controllers for the powerful class of fast sampled constrained piecewise affine systems these systems may exhibit rather complex behavior and are equivalent to many other hybrid system formalisms combining continuous valued dynamics with logic rules reported . Abstract this paper makes two contributions firstly it provides a characterization of the solution of the optimal control problem for piecewise affine discrete time systems with a quadratic cost function the generally preferred option and secondly provides a simple method reverse transformation for solving this and the previously solved ell problem. Its nonlinear nature and time varying parameters cause difficulties in modeling their characteristics as well as in designing controllers for high performance positioning systems a constrained linear and piecewise affine system model approximation is formulated and a control scheme composed of the following is being synthesized 1 a
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