| 摘要 |
An operation of a system is controlled according to a control trajectory represented by a solution of a set of differential equations satisfying boundary conditions, wherein the set of differential equations includes ordered piecewise differential equations. The set of differential equations is parameterized to produce a first set of parameters representing values of the solution at switching times and a second set of parameters representing values of the switching times. The first and the second sets of parameters are determined alternately until the boundary conditions are satisfied to produce the solution; and the control trajectory is generated based on the solution to control the operation of the system. |
