Geodesic
Dual formulation of the Pontryagin maximum principle in optimal control
Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 291 (2015), pp. 69-75 
R. V. Gamkrelidze. Dual formulation of the Pontryagin maximum principle in optimal control. Trudy Matematicheskogo Instituta imeni V.A. Steklova, Optimal control, Tome 291 (2015), pp. 69-75. http://geodesic.mathdoc.fr/item/TM_2015_291_a5/
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     author = {R. V. Gamkrelidze},
     title = {Dual formulation of the {Pontryagin} maximum principle in optimal control},
     journal = {Trudy Matematicheskogo Instituta imeni V.A. Steklova},
     pages = {69--75},
     year = {2015},
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     url = {http://geodesic.mathdoc.fr/item/TM_2015_291_a5/}
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Voir la notice du chapitre de livre provenant de la source Math-Net.Ru

An invariant dual formulation of the Pontryagin maximum principle is given for the time-optimal case.

[1] Pontryagin L.S., Boltyanskii V.G., Gamkrelidze R.V., Mischenko E.F., Matematicheskaya teoriya optimalnykh protsessov, Fizmatgiz, M., 1961