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Second order sufficient conditions and sensitivity analysis for optimal multiprocess control problems

Augustin D., Maurer H.

Control and Cybernetics

2000

Vol. 29, no 1

11-31

Second order sufficient optimality conditions (SSC) are derived for optimal multiprocess control problems. For that purpose the multiprocess control problem is transformed into a single stage control problem with augmented state variables which comprise the state variables of all individual stages as well as the switching times as choice variables. This toansformation allows to apply the known SSC for single stage control problems. A numerical test of SSC involves the solution of an associated Riccati equation together with boundary conditions adapted to the multiprocess. Sensitivity analysis of parametric multiprocess problems can be based on SSC. A numerical example of the optimal two-stage control of a robot illustrates both SSC and sensitivity analysis.