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In this chapter, we consider an optimal control problem with retarded control and study a larger class of singular (in the classical sense) controls. For the optimality of singular controls, the various necessary conditions in the recurrent forms are obtained. These conditions contain also the analogs of Kelly, Koppa-Mayer, Gabasov, and equality-type conditions. While proving the main results, the Legendre polynomials are used as variations of control.

Conditions for Optimality of Singular Controls in Dynamic Systems with Retarded Control