Table 2 Optimal results and computational times using the two techniques for Example 5.2
From: A new computational approach for optimal control of switched systems
Control partitions | Time-scaling method | The proposed method | |||
|---|---|---|---|---|---|
p = 6 | p = 9 | p = 6 | p = 7 | p = 8 | |
Optimal cost \(J^{*}\) | 13.4381 | 7.0828 | 7.0866 | 7.0830 | 7.0808 |
Switching times \(t_{1}^{\star}\) | 0.1241 | 0.0433 | 0.0447 | 0.0439 | 0.0438 |
Switching times \(t_{2}^{\star}\) | 2.9998 | 0.7303 | 0.7276 | 0.7306 | 0.7280 |
CPU time (s) | 17.73 | 99.07 | 99.35 | 148.97 | 183.83 |