  We present a numerically tractable formulation for computing the optimal
control of the class of hybrid dynamical systems whose trajectories are
continuous. Our formulation, an extension of existing relaxed-control
techniques for switched dynamical systems, incorporates the domain information
of each discrete mode as part of the constraints in the optimization problem.
Moreover, our numerical results are consistent with phenomena that are
particular to hybrid systems, such as the creation of sliding trajectories
between discrete modes.
