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A.I. Propoi algorithm Automation and Remote Bad Honnef ber of Final chapter Chem CM CM CM computations concave concave function condition constraints convergence convex set criterion value define definition of Hamiltonian directional convexity Discrete Maximum Principle Discrete Systems discrete time systems Distributed Parameter Systems dynamic programming Edited equation examples formulated Gabasov H.F. Ravn Halkin higher loop i-l i-l IMSOR J.M. Holtzman L.S. Pontryagin Lagrange Multiplier Method linear support loop step lower loop maximizes the Hamiltonian Multiplier Method multistage optimization problems n-dimensional nonlinear programming Optimal Control optimal solution optimization of discrete parameters penalty functions Pontryagin's Maximum Principle Principle for Discrete quadratic support Russian saddle-point sequence situated at ub stage strong support support to ub(x Theorem 222 Theorem ll6 Theory of Optimal ti(x tion UBjxJ upper boundary approach variables vector Vidal xi+rxi