In the previous sections we considered Hamilton’s variation al principle in terms of independent generalized coordinates q i , i = 1, ..., n , where n is the number of degrees of freedom of a dynamical system. In this chapter we will consider several import ant situations in which the generalized coordinates are not independent but are restricted by given auxiliary conditions. Namely, it is not uncommon in th e analysis of applied variational problems to be faced with the task of finding an extremal dynamical trajectory within th e framework of a certain number of restrictions that have physical origin
KeywordsOptimal Control Problem Optimal Control Theory Terminal Time Natural Boundary Condition Commutativity Rule
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