Geodesic
Pontryagin's maximum principle of optimal control problems with time-delay
Fundamentalʹnaâ i prikladnaâ matematika, Tome 15 (2009) no. 5, pp. 3-19.

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In this paper, we consider an optimal control problem with time-delay. The state and the control variables contain various constant time-delays. This allows us to represent the necessary conditions in an explicit form. Solution of this problem with infinite terminal time is also given. 
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G. V. Bokov. Pontryagin's maximum principle of optimal control problems with time-delay. Fundamentalʹnaâ i prikladnaâ matematika, Tome 15 (2009) no. 5, pp. 3-19. http://geodesic.mathdoc.fr/item/FPM_2009_15_5_a0/

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