Optimal Control of a Hybrid Dynamical System: Two-stage Reactor System T. Hirmajer and M. Fikar Institute of Information Engineering, Automation, and Mathematics Department of Information Engineering and Process Control FCFT STU, Radlinsk´ eho 9, 812 37 Bratislava, Slovakia fax: +421 2 52 49 64 69 e-mail: {tomas.hirmajer, miroslav.fikar}@stuba.sk Technical Report TH0002 http://www.kirp.chtf.stuba.sk/ ~ hirmajer/ 30.3.2006 Version 1.10