—_ z(t) 
Seocooe x(t) =2zat 6x 
Figure 3 -- Constrained Variables 
(Wp XQ) = Ww 
and 
o, (2, w) < O (3.4) 
where > = (b> d5)- 
Consider a new vector defined by 
o(x, u) + px, u) = 0 
The vector ) is called a defect vector. Along the optimal trajectory, 
the vector can also be split into two component vectors, vy and Wo> 
which correspond to the component vectors of ). The component vectors 
of p~ also change from interval to interval. Along a given interval 
Les Sa 
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