Introduction to Control Theory Including Optimal Control (original) (raw)

This paper provides an introduction to control theory, specifically focusing on bang-bang control techniques that involve bounded controls and potential discontinuities. It outlines methods to formulate control problems under inequality constraints, deriving optimal controllers through augmented functionals, state variable notation, and Hamiltonian mechanics. Examples illustrate the application of these concepts to dynamic systems, with emphasis on trajectory optimization and transversality conditions.