A note of the convergence of infeasible dynamical hierarchical controllers

In this note, a brief study is made of the convergence characteristics of infeasible dynamical hierarchical controllers. An. attempt is made to provide qualitative guidelines on the necessary degree of accuracy required for the resolution of the problems on each level in order for the overall optimal control to be achieved. It is shown that it is much more important to achieve a high degree of accuracy on the first level than on the second. Some experimental verification is provided for this assertion by studying the convergence characteristics of a non-linear dynamical system comprising two subsystems.