Inversion in indirect optimal control of multivariable systems
François Chaplais, Nicolas Petit (2008)
ESAIM: Control, Optimisation and Calculus of Variations
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This paper presents the role of vector relative degree in the formulation of stationarity conditions of optimal control problems for affine control systems. After translating the dynamics into a normal form, we study the Hamiltonian structure. Stationarity conditions are rewritten with a limited number of variables. The approach is demonstrated on two and three inputs systems, then, we prove a formal result in the general case. A mechanical system example serves as illustration. ...