rationalized haar functions

We consider an approximation scheme using Haar wavelets for solving a class of infinite horizon optimal control problems (OCPs) of nonlinear interconnected large-scale dynamic systems. A computational method based on Haar wavelets in the time-domain is proposed for solving the optimal control problem. Haar wavelets integral operational matrix and direct collocation method are utilized to find the approximated optimal trajectory of the original problem. Numerical results are also given to demonstrate the applicability and the efficiency of the proposed method.