Output-Based Optimal Timing Control of Switched Systems

Optimal switch-time control is an area that investigates how best to switch between different control modes. In this paper we present an algorithm for solving the optimal switch-time control problem for nonlinear systems where the state is only partially known through the outputs. A method is presented that both guarantees that the current switch-time estimates remain optimal as the state estimates evolve, and that ensures this in a computationally feasible manner, thus rendering the method applicable to real-time applications. The viability of the proposed method is illustrated through a number of examples.