Fig. 4

Optimal Synthesis for Sequences \([1,1]\), \([1,2]\) and \([2,2]\) is shown in (a) (b) (c) for the nominal parameters (39). In these depictions, the state space is repeated to indicate the reset condition. (a) Synthesis for \([1,1]\), showing both parts of the dynamic programming. The terminal cost is increasing and differentiable. The optimal trajectories from several initial conditions are shown. (b) Optimal trajectories for sequence \([1,2]\). (c) Optimal trajectories for sequence \([2,2]\). In this case, all initial conditions collapse onto a single manifold associated with the second spike.