Reeb foliation in the optimal control problem with phase constraints

Abstract

An optimal control problem with two phase constraints and a two-dimensional control is considered. We prove that its optimal trajectories have a countable number of points of contact with the phase constraint bound on a finite time interval. The optimal synthesis of the problem after applying the quotient mapping by the action of the scale group has a complicated topological structure and, in some neighborhood of singular extremals, it is the Reeb foliation.