Henrik Axelsson, Magnus Egerstedt, Yorai Wardi, George J. Vachtsevanos. Algorithm for Switching-Time Optimization in Hybrid Dynamical Systems. In Intelligent Control, 2005. Proceedings of the 2005 IEEE International Symposium on, Mediterrean Conference on Control and Automation, Limassol, Cyprus, 27-29 June, 2005. pages 256-261, IEEE, 2005. [doi]
Abstract is missing.