Geodesic
An iterative method for computation of time-optimal control of quasilinear systems
Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 6 (2003) no. 3, pp. 227-247.

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An iterative method of finding the time-optimal control for quasi-linear systems is considered. A system of linear algebraic equations is obtained, which relates deviations of the initial conditions of the normalized conjugate system and the deviation of the finite time to the deviations of phase coordinates resulted from nonlinearity. A numerical algorithm and its modifications are described. The convergence of the iterative procedure has been proved. Some examples are presented. 
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V. M. Aleksandrov. An iterative method for computation of time-optimal control of quasilinear systems. Sibirskij žurnal vyčislitelʹnoj matematiki, Tome 6 (2003) no. 3, pp. 227-247. http://geodesic.mathdoc.fr/item/SJVM_2003_6_3_a1/

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