https://scholarsmine.mst.edu/mec_aereng_facwork/1366/
"Analysis of Multi-Resolutional Optimal Control Systems" by A. Dasgupta, S. N. Balakrishnan et al.
In hierarchical systems, the upper levels in the hierarchy are obtained as a result of aggregation on the states and control variables of the bottom levels. A...
s n balakrishnanoptimal controlanalysismultiresolutional