On joining non-singular and singular optimal control subarcs
Richard Bortins · International Journal of Control · 1983
Necessary conditions for junctions between non-singular and singular optimal control subarcs are proved for the case where the singular problem order is greater than one. the generalized Legendre-Clebsch condition (GLC) vanishes at the junction, and the derivative of the GLC expression is non-zero at the junction. The proof requires the derivation of two identities which are system properties of higher-order singular problems