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RESEARCH PAPERS

Optimal Control in the Presence of Nondifferentiable State Constraints

[+] Author and Article Information
E. D. Eyman

Information Engineering, The University of Iowa, Iowa City, Iowa

D. P. Sudhakar

Avionics Division, Collins Radio Group, Rockwell International, Cedar Rapids, Iowa

J. Dyn. Sys., Meas., Control 98(4), 432-439 (Dec 01, 1976) (8 pages) doi:10.1115/1.3427062 History: Received October 06, 1976; Online July 13, 2010

Abstract

Necessary conditions are derived for optimality of differential control processes in the presence of nondifferentiable state (or phase) constraints. The techniques of general Mathematical Programming and the Dubovitskii-Milyutin Theorem are employed. The necessary conditions derived are in the form of an adjoint integral equation and a pointwise maximal condition. It is found that the gradient of the state (or phase) constraint can be replaced by the Gateaux differential of a certain form in the adjoint equation.

Copyright © 1976 by ASME
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