\[ J = \int_{t_0}^{t_f} \left( x^T Q x + u^T R u \right) dt + \sum_{i=1}^N \phi_i(x(t_i)) \] \[ \text{Subject to: } \quad \dot{x} = A_i x + B_i u, \quad i \in \{1, 2, ..., N\} \] \[ \text{Event Trigger: } E(x, u) = 0 \]