Removable singularities of Yang-Mills fields in
We study Hamiltonian systems which generate extremal flows of regular variational problems on smooth manifolds and demonstrate that negativity of the generalized curvature of such a system implies the existence of a global smooth optimal synthesis for the infinite horizon problem. We also show that in the Euclidean case negativity of the generalized curvature is a consequence of the convexity of the Lagrangian with respect to the pair of arguments. Finally, we give a generic classification for...