concave programming ; continuous time systems ; discrete systems ; gradient methods ; linear quadratic control ; switching systems (control) ; mixed-integer linear-quadratic optimal control ; switching cost ; continuous-time dynamical system ; discrete-valued control variables ; state-independent switching costs ; mixed-integer optimal control problems ; original nonconvex formulation ; sparse optimization ; composite objective function ; switched linear time-varying dynamics ; quadratic cost functionals ; mixed-integer OCPs ; bilevel OCP ; switching time optimization ; proximal gradient method ; Switches ; Optimization ; Optimal control ; Linear programming ; Sensitivity analysis ; Linear systems ; Optimal control ; numerical algorithms ; hybrid systems    «

concave programming ; continuous time systems ; discrete systems ; gradient methods ; linear quadratic control ; switching systems (control) ; mixed-integer linear-quadratic optimal control ; switching cost ; continuous-time dynamical system ; discrete-valued control variables ; state-independent switching costs ; mixed-integer optimal control problems ; original nonconvex formulation ; sparse optimization ; composite objective function ; switched linear time-varying dynamics ; q...    »