Abstract
This chapter introduces the standard approach to optimal control theory in form of the necessary optimality conditions. Furthermore, additional necessary optimality conditions for singular optimal control problems, the so-called Kelly or generalized Legendre–Clebsch conditions, are introduced, followed by a brief discussion of the difficulties involved in finding a numerical solution to an optimal control problem. Finally, the conditions under which the control of exactly realizable trajectories is optimal are clarified.
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Löber, J. (2017). Optimal Control. In: Optimal Trajectory Tracking of Nonlinear Dynamical Systems. Springer Theses. Springer, Cham. https://doi.org/10.1007/978-3-319-46574-6_3
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DOI: https://doi.org/10.1007/978-3-319-46574-6_3
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