Feedback-Invariant Optimal Control Theory and Differential Geometry, II. Jacobi Curves for Singular Extremals
- Cite this article as:
- Agrachev, A. Journal of Dynamical and Control Systems (1998) 4: 583. doi:10.1023/A:1021871218615
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This is the second article in the series that began in . Jacobi curves were defined, computed, and studied in that paper for regular extremals of smooth control systems. Here we do the same for singular extremals. The last section contains a feedback classification and normal forms of generic single-input affine in control systems on a 3-dimensional manifold.