C.6. Relationship Between Dynamic Programming (DP) and Minimum Principle

As explained in detail previously, the optimal control problem is to find a uUimage causing the system ẋ(t)=a(x(t),u(t),timage to respond, so that the performance measure J=h(x(tf),tf)+t0tfg(x(t),u(t),t)dtimage is minimized. The optimal control and its trajectory must satisfy the Hamilton–Jacobi–Bellman (HJB) equation of a Dynamic Programming (DP) ([26]) formulation

0=Jt(x(t),t)+minu

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