The mathematical model can be described by where fi : R×R×R→R are vector fields, exogenous input u ∈ R and σ [0, tf ] → Q ∈ {0,1,2,...,q} is a piecewise constant function of time.
donde fi : R×R×R+→Rson los vectores de campo, la entrada externa de control u ∈ Ry s : [0, t f ] → Q ∈ {0,1,2, ...,q} es un función del tiempo constante a trozos.