Fig. 5
From: Fundamental Limits of Forced Asynchronous Spiking with Integrate and Fire Dynamics
A possible suboptimal synthesis is shown for the sequence \(\varSigma_{S} = [2,1]\). Note that the value function for the last spike, i.e. Neuron 1, plotted in the bottom panel, is not differentiable with respect to \(v_{1}\). This is added as the terminal cost for the optimum control problem for the first spike in Neuron 2. In the right panel, the actual optimal solution and a constant control suboptimal synthesis proposed in (67) is shown.