While optimality conditions for optimal control problems with state
constraints have been extensively investigated in the literature
the results pertaining to numerical methods are relatively scarce.
This book fills the gap by providing a family of new methods. Among
others, a novel convergence analysis of optimal control algorithms
is introduced. The analysis refers to the topology of relaxed
controls only to a limited degree and makes little use of Lagrange
multipliers corresponding to state constraints. This approach
enables the author to provide global convergence analysis of first
order and superlinearly convergent second order methods. Further,
the implementation aspects of the methods developed in the book are
presented and discussed. The results concerning ordinary
differential equations are then extended to control problems
described by differential-algebraic equations in a comprehensive
way for the first time in the literature.
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