Skinner-Rusk formalism for optimal control
Tipo de documentoArtículo
Fecha de publicación2006-12
Condiciones de accesoAcceso abierto
In 1983, the dynamics of a mechanical system was represented by a first-order system on a suitable phase space by R. Skinner and R. Rusk. The corresponding unified formalism developed for optimal control systems allows us to formulate geometrically the necessary conditions given by Pontryagin's Maximum Principle, as long as the differentiability with respect to controls is assumed.