The use of first integrals to synthesize the energetically optimal control of a nonlinear system

Artikel i vetenskaplig tidskrift, 1997

In the paper a method of solving problems of optimal control of the motion of nonlinear dynamical systems with respect to energy expenditure given a fixed time and fixed ends of the phase trajectory has been proposed. The method is based on the use of first integrals of the equations of free motion. The application of the method is illustrated by examples.