Optimal Control Theory: OCPs

This lecture covers Optimal Control Theory, focusing on Optimal Control Problems (OCPs). It explains the concept of OCPs, admissible controls, dynamical systems, existence of solutions, performance criteria, physical constraints, equivalence of performance criteria, and path constraints. The lecture also delves into the calculus of variations, gateaux derivative, geometric conditions of optimality, first-order necessary conditions, and admissible directions. It concludes with an overview of geometric optimality considerations and the necessary conditions for optimality.