Abstract
In this chapter, the optimal control problem is extended to allow the final time to be free, and the conditions for a minimum are developed anew. Allowing the final time to be free gives rise to a natural boundary condition for determining the optimal final time. Next, the Weierstrass condition and the Legendre-Clebsch condition are presented. Then, the conjugate point condition is developed for nonsingular optimal control problems (H uu > 0). Finally, several example problems are solved.
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© 2003 Springer Science+Business Media New York
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Hull, D.G. (2003). Free Final Time. In: Optimal Control Theory for Applications. Mechanical Engineering Series. Springer, New York, NY. https://doi.org/10.1007/978-1-4757-4180-3_13
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DOI: https://doi.org/10.1007/978-1-4757-4180-3_13
Publisher Name: Springer, New York, NY
Print ISBN: 978-1-4419-2299-1
Online ISBN: 978-1-4757-4180-3
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