Algorithms for Hybrid Optimal Control. Part I: Symbolic/Numeric Control of Affine Dynamical Systems

A. Rondepierre, J. Dumas


We consider a general linear dynamical system and want to control its behavior. The goal is to reach a given target by minimizing a cost function. We provide a new generic algorithm with both symbolic and numerical modules. In particular we propose a new algorithm under-approximating the controllable domain in view of its analytical resolution in the context of singular sub-arcs. New efficient methods computing a block Kalman canonical decomposition and the optimal solutions are also presented.