@incollection{eprints741,
           pages = {5082--5087},
       publisher = {IFAC},
           title = {Hybrid dynamic optimization for cruise speeed control},
            year = {2011},
          author = {Tiago Jorge and Joao M. Lemos and Miguel Bar{\~a}o and Alberto Bemporad},
       booktitle = {Proceedings of the 18th IFAC World Congress, 2011},
          volume = {18},
            note = {This work has been performed within the framework of activity 2.4.1 ? Smart drive control of project SE2A - Nanoelectronics for Safe, Fuel Efficient and Environment Friendly Automotive Solutions, ENIAC initiative.},
             url = {http://eprints.imtlucca.it/741/},
        abstract = {The cruise control problem of transferring the speed of a vehicle between two values in a fixed interval of time using a predefined sequence of gears is solved in this paper. This is a hybrid dynamic optimization problem since the control variables include both a continuous variable (fuel flow) and a discrete variable (the gear to apply at each instant). The solution is given in the form of a hybrid optimal control algorithm that computes the optimal switching times between gears using Dynamic Programming and the optimal fuel profile between successive gear boundaries using a gradient algorithm to approximate the optimum conditions. In order to reduce the search of the optimal switching times to a search in a finite dimension graph, a procedure based on a changing grid is used. The algorithm is illustrated by a simulation using a diesel one-dimensional car model.},
        keywords = {Nonlinear and optimal automotive control; Intelligent driver aids}
}