The patchy Method for the Infinite Horizon Hamilton-Jacobi-Bellman   Equation and its Accuracy
  We introduce a modification to the patchy method of Navasca and Krener for solving the stationary Hamilton Jacobi Bellman equation. The numerical solution that we generate is a set of polynomials that approximate the optimal cost and optimal control on a partition of the state space. We derive an error bound for our numerical method under the assumption that the optimal cost is a smooth strict Lyupanov function. The error bound is valid when the number of subsets in the partition is not too large. 
Thomas Hunt, Arthur J. Krener
math.OC math.NA