This paper presents a new approach for solving optimal control problems for switched systems. We focus on problems in which a pre-specified sequence of active subsystems is given. For such problems, we need to seek both the optimal switching instants and the optimal continuous inputs. A Bezier control points method is applied for solving an optimal control problem which is supervised by a switched dynamic system. Two steps of approximation exist here. First, the time interval is divided into sub-intervals. Second, the trajectory and control functions are approximatedby Bezier curves in each subinterval. Bezier curves have been considered as piecewise polynomials of degree , then they will be determined by control points on any subinterval. The optimal control problem is there by converted into a nonlinear programming problem (NLP), which can be solved byknown algorithms. However in this paper the MATLAB optimization routine FMINCON is used for solving resulting NLP.

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