Optimal Control of Constrained Piecewise Affine Systems

Background.- Mathematical Necessities.- Systems and Control Theory.- Receding Horizon Control.- Piecewise Affine Systems.- Optimal Control of Constrained Piecewise Affine Systems.- Constrained Finite Time Optimal Control.- Constrained Infinite Time Optimal Control.- Analysis and Post-Processing Techniques for Piecewise Affine Systems.- Linear Vector Norms as Lyapunov Functions.- Stability Analysis.- Stability Tubes.- Efficient Evaluation of Piecewise Control Laws Defined Over a Large Number of Polyhedra.