@incollection{eprints524,
           title = {On the optimal control law for linear discrete time hybrid systems},
            year = {2002},
          volume = {2289},
           pages = {105--119},
       booktitle = {Hybrid Systems: Computation and Control},
       publisher = {Springer-Verlag},
         journal = {Hybrid Systems: Computation and Control},
          author = {Alberto Bemporad and Francesco Borrelli and Manfred Morari},
             url = {http://eprints.imtlucca.it/524/},
        abstract = {In this paper we study the solution to optimal control problems for discrete time linear hybrid systems. First, we prove that the closed form of the state-feedback solution to finite time optimal control based on quadratic or linear norms performance criteria is a time-varying piecewise afine feedback control law. Then, we give an insight into the structure of the optimal state-feedback solution and of the value function. Finally, we briefly describe how the optimal control law can be computed by means of multiparametric programming. }
}