  This paper presents the jump law of co-states in optimal control for
state-dependent switched systems. The number of switches and the switching
modes are assumed to be known a priori. A proposed jump law is rigorously
derived by theoretical analysis and illustrated by simulation results. An
algorithm is then proposed to solve optimal control for state-dependent hybrid
systems. Through numerical simulations, we further show that the proposed
approach is more efficient than existing methods in solving optimal control for
state-dependent switched systems.
