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@article{Mahmoud1978OptimalCO, title={Optimal control of constrained problems by the costate coordination structure}, author={Magdi S. Mahmoud}, journal={Automatica}, year={1978}, volume={14}, pages={31-40} }

- Published 1978 in Automatica
DOI:10.1016/0005-1098(78)90074-2

-A three-level hierarchical computation structure based on the costate coordination technique is developed to efficiently optimize the constrained control problems with nonseparable cost functions. The key idea underlying this development is the effective utilization of the Lagrangian generalized gradients to successfully convert the integrated optimization… CONTINUE READING

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