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In this paper, we address this shortcoming by constructing an implementable algorithm that discretizes the differential equation, producing a finite-dimensional nonlinear program. We prove that this implementable algorithm constructs a sequence of points that asymptotically satisfy a necessary condition for optimality for the constrained switched system optimal control problem. Four simulation experiments are included to validate the theoretical developments.<\/jats:p>","DOI":"10.1137\/120901507","type":"journal-article","created":{"date-parts":[[2013,12,11]],"date-time":"2013-12-11T13:35:30Z","timestamp":1386768930000},"page":"4484-4503","source":"Crossref","is-referenced-by-count":35,"title":["Consistent Approximations for the Optimal Control of Constrained Switched Systems---Part 2: An Implementable Algorithm"],"prefix":"10.1137","volume":"51","author":[{"given":"Ramanarayan","family":"Vasudevan","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Humberto","family":"Gonzalez","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruzena","family":"Bajcsy","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S. Shankar","family":"Sastry","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"351","published-online":{"date-parts":[[2013,12,11]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.2140\/pjm.1966.16.1"},{"key":"atypb2","doi-asserted-by":"crossref","unstructured":"V. Duindam, R. Alterovitz, S. S. Sastry, and K. Goldberg,<i>Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles<\/i> in Proceedings of the 2008 IEEE International Conference on Robotics and Automation, 2008, pp. 2483-2488.","DOI":"10.1109\/ROBOT.2008.4543586"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.861711"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1007\/BF01581153"},{"key":"atypb5","unstructured":"G. B. Folland,<i>Real Analysis: Modern Techniques and Their Applications<\/i> 2nd ed., John Wiley, New York, 1999."},{"key":"atypb6","unstructured":"P. E. Gill, S. J. 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