More on optimal control with paths lying on a corner

Z. Lieber*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper extends the Pontryagin maximum principle to allow for a finite number of corners, i.e., allowing for any finite number of discontinuities of the first derivatives with respect to the state variables. These corners are shown to raise the same computational difficulties caused by state constraints.

Original languageEnglish
Pages (from-to)347-357
Number of pages11
JournalJournal of Optimization Theory and Applications
Issue number3
StatePublished - Nov 1976


  • Optimal control
  • corner points
  • maximum principle
  • state constraints


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