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    IEEE
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    An adjoint method for second-order switching time optimization
    13 years 6 months ago
    An adjoint method for second-order switching time optimization
    Download  robotics.mech.northwestern.edu
    Abstract-- Switched systems evolve over a sequence of continuous modes of operation, transitioning between modes in a discrete manner. Assuming a mode sequence is known, the evolut...
    Timothy M. Caldwell, Todd D. Murphey
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