Second-Order Necessary Conditions in Optimal Control : Accessory-Problem Results without Normality Conditions

@inproceedings{Gilbert2004SecondOrderNC,
  title={Second-Order Necessary Conditions in Optimal Control : Accessory-Problem Results without Normality Conditions},
  author={Elmer G. Gilbert and Dennis S. Bernstein},
  year={2004}
}
An optimal control problem, which includes restrictions on the controls and equality/inequality constraints on the terminal states, is formulated. Second-order necessary conditions of the accessoryproblem type are obtained in the absence of normality conditions. It is shown that the necessary conditions generalize and simplify prior results due to Hestenes (Ref. 5) and Warga (Refs. 6 and 7). 

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