Table 1 Optimal results and computational times using the two techniques for Example 5.1
From: A new computational approach for optimal control of switched systems
Control partitions | Time-scaling method | The proposed method | ||||
|---|---|---|---|---|---|---|
p = 3 | p = 6 | p = 9 | p = 3 | p = 4 | p = 5 | |
Optimal cost \(J^{*}\) | 3.8971 | 3.8637 | 3.6809 | 3.8676 | 3.7036 | 3.6741 |
Switching times \(t_{1}^{\star}\) | 0.3979 | 0.4384 | 0.0003 | 0.3413 | 0.0001 | 0.0001 |
Switching times \(t_{2}^{\star}\) | 1.7061 | 1.7188 | 1.7292 | 1.6936 | 1.7101 | 1.7080 |
CPU time (s) | 14.44 | 23.47 | 42.77 | 8.06 | 21.35 | 40.28 |