Lecture 6 - CoV: Transversality conditions, solutions with corners, K4

Transversality conditions:

  • free start/final state
  • free start/final time
  • state and time are free but depend on each other

Boundary/end point conditions that complement Euler equation

Solutions with corners (non-differentiable), Weierstrass-Erdmann conditions

Sections from the book: Kirk 4