Forward Decomposition Algorithms for Optimal Control of a Class of Hybrid Systems
[A68]Cho, Y.C., Cassandras, C.G., and Pepyne D.L.,
Forward Decomposition Algorithms for Optimal Control of a Class of Hybrid Systems
Intl. J. of Robust and Nonlinear Control Vol. 11, 5, pp. 497-513, 2001.