Projection-based iterative mode scheduling for switched systems

T. M. Caldwell*, T. D. Murphey

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

20 Scopus citations


This paper describes a method for scheduling the events of a switched system to achieve an optimal performance. The approach has guarantees on convergence and computational complexity that parallel derivative-based iterative optimization but in the infinite dimensional, integer constrained setting of mode scheduling. In comparison to methods relying on mixed integer programming, the presented approach does not require a priori discretizations of time or state. Furthermore, in comparison to embedding and relaxation methods, every iteration of the algorithm returns a dynamically feasible solution. A large class of problems call for optimal mode scheduling. This paper considers a vehicle tracking problem and a high dimensional multimachine power network synchronization problem. For the power network example, both single horizon and receding horizon approaches prevent instability of the network, and the receding horizon approach does so at near real-time speeds on a single processor.

Original languageEnglish (US)
Pages (from-to)59-83
Number of pages25
JournalNonlinear Analysis: Hybrid Systems
StatePublished - Aug 1 2016


  • Mode scheduling
  • Optimal control
  • Power network regularization
  • Switched-mode systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Analysis
  • Computer Science Applications


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