Geodesic
A contribution to the phenomenological differential principle
Theoretical and applied mechanics, Tome 5 (1979) no. 1, p. 174 .

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In this paper the author shows that the optimal control of the motion of holonomie system of the Pfaff’s form is determined by the relation (10) where (9) is the Pontryagin’s function. By the aid of the law of gradients (15) are obtained the differential equations of optimal control of the observed mechanical system (17). 
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     title = {A contribution to the phenomenological differential principle},
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Veljko A. Vujičić. A contribution to the phenomenological differential principle. Theoretical and applied mechanics, Tome 5 (1979) no. 1, p. 174 . http://geodesic.mathdoc.fr/item/TAM_1979_5_1_a17/