variables to evaluate more functions. Finally, an optimal variation of the control function is obtained and added to the existing control function, and the cycle repeats itself. The computation required the definition of a stopping functional, S(t^; in its general form it is a function of terminal time and state, and the integral of the same form as that in J. In this case, it is simply The optimization process was developed using the multiplier method which yields three sets of adjoint equations associated with J, I, and S,
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