Optimal control synthesis for affine nonlinear dynamic systems

The problem of optimal control synthesis of complex nonlinear and multidimensional systems oriented on the building of integrated control systems with the adaptation and self-organization properties is of much current interest. The development of optimization methods employed in control problems demonstrated their effectiveness and has led to the construction of algorithms of approximate solution of optimization problems that significantly extends the class of control problems that can be set. In this work we consider a synthesis of optimal control for affine nonlinear system, in which a special emphasis is placed on the degenerate problems of optimal control. Our approach is based on the extension of the method of minimization of generalized work function by properly transforming the initial nondegenerate problem of optimal control into degenerate problem of optimal control synthesis. The search for the solution is based on the suboptimal strategy that includes the construction of minimizing sequences that converge interval-wise to the optimal solution of the initial problem. We obtain some optimality conditions as well as the necessary and sufficient conditions of existence of optimal solution.