In optimal control problems with quadratic terminal cost functionals and systems dynamics linear with respect to control, the solution often has a bang-bang character. Our aim is to investigate structural solution stability when the problem data are subject to perturbations. Throughout the paper, we assume that the problem has a (possibly local) optimum such that the control is piecewise constant and almost everywhere takes extremal values. The points of discontinuity are the switching points. In particular, we will exclude the so-called singular control arcs, see Assumptions 1 and 2, Section 2. It is known from the results by Agrachev et al. (2002) stating that regularity assumptions, together with a certain strict second-order condition for the optimization problem formulated in switching points, are sufficient for strong local optimality of a state-control solution pair. This finite-dimensional problem is analyzed in Section 3 and optimality conditions are formulated (Lemma 2). Using well-known results concerning solution sensitivity for mathematical programs in R^n (Fiacco, 1983) one may further conclude that, under parameter changes in the problem data, the switching points will change Lipschitz continuously. The last section completes these qualitative statements by calculating sensitivity differentials (Theorem 2, Lemma 6). The method requires a simultaneous solution of certain linearized multipoint boundary value problems.
Dokonano przeglądu chemicznych, termodynamicznych i kinetycznych właściwości kationów metali w roztworach wodnych. Omówiono współczesne poglądy na strukturę hydratów, wymianę molekuł wody oraz hydrolizę soli. Zwrócono uwagę na kwasowość hydratów. Wskazano istotne związki między stanem koordynacyjnym soli w roztworach wodnych a właściwościami fizykalnymi roztworów. Omówiono formy wystepowania kationów metali w wodzie morskiej.
EN
Chemical, thermodynamic and kinetic properties of metal cations in aqueous solutions are presented and discussed in terms of structural factors controlling physical properties of the systems. Structure of hydrated cations, reaction mechanism of water exchange on the cations, hydrolytic phenomena and acidity of the cations are descibed. Correlations between coordination states of the salts in and bulk properties of the solutions are indicated. Elements of aquatic chemistry are presented.
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