Abstract
Infinite horizon optimal control problem with general endpoint constraints is reduced to a family of standard problems on finite time intervals containing the value of the conditional cost of the phase vector as a terminal term. New version of the Pontryagin maximum principle containing an explicit characterization of the adjoint variable is obtained for the problem with a general asymptotic endpoint constraint. In the case of the problem with free final state this approach leads to a normal form version of the maximum principle formulated completely in the terms of the conditional cost function.
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