In this chapter, several path constraints are considered. These are the integral constraint, the control equality constraint, the state equality constraint, the control inequality constraint, and the state inequality constraint. With the exception of the Legendre-Clebsch condition, which is obtained from the Weierstrass condition, only first differential conditions are derived. For bounded controls, the optimality conditions plus the Weierstrass condition are equivalent to the Pontryagin Minimum Principle (Refs. PB and He).
KeywordsOptimal Control Problem Inequality Constraint Optimal Path Differential Condition Integral Constraint
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