  Optimal control problems involving hybrid binary-continuous control costs are
challenging due to their lack of convexity and weak lower semicontinuity.
Replacing such costs with their convex relaxation leads to a primal-dual
optimality system that allows an explicit pointwise characterization and whose
Moreau-Yosida regularization is amenable to a semismooth Newton method in
function space. This approach is especially suited for computing switching
controls for partial differential equations. In this case, the optimality gap
between the original functional and its relaxation can be estimated and shown
to be zero for controls with switching structure. Numerical examples illustrate
the effectiveness of this approach.
