Free time problems with endpoint constraints: a dynamic programming approach

Suppose a verification function associated with an admissible state trajectory x ( ) can be found. Then x ( ) is a local minimizer. So it would be desirable to know when verification functions exist. It is shown that a verification function, appropriately defined, always exists under a normality hypothesis. These results improve on earlier ones since they treat problems with a free end-time and a general endpoint constraint.<
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