Title: Feedback-invariant optimal control theory and differential geometry, I. Regular extremals
Authors: A.A. Agrachev, R.V. Gamkrelidze
Journal title: Dynamical and Control Systems
Year: 1997
Volume: 3
Pages: 343-389
Abstract:

Feedback-invariant approach to smooth optimal control problems is considered. A Hamiltonian method of investigating regular extremals is developed, analogous to the differential-geometric method of investigation Riemannian geodesics in terms of the Levi-Civita connection and the curvature tensor.