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This paper presents a neighboring extremal solution for a class of optimal switched impulsive control problems with perturbations in the initial state, terminal condition and system's parameters. The sequence of mode's switching is pre-specified, and the decision variables, i.e. the switching times and parameters of the system involved, have inequality constraints. It is as- sumed that the active status of these constraints is unchanged with the pertur- bations. We derive this solution by expanding the necessary conditions for op- timality to first-order and then solving the resulting multiple-point boundary- value problem by the backward sweep technique. Numerical simulations are presented to illustrate this solution method.

A neighboring extremal solution for an optimal switched impulsive control problem