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Goddard Problem
Nondimensional Form
Its convenient to
nondimenionalize. We select M : M0 unit mass L : Re unit length T :
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3 Re / unit time
: unit force
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Hamiltonian H = r v + v c m m m D(r, v) 1 r2
a
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r = v
1D
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conditions imply H(tf ) = 0 r (tf ) = 0 v (tf ) = 0 m(tf ) = 1 Note that H is constant along an extremal path.
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as H = v c m + terms independent of m
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The singular case arises only if S() vanishes on an arc of nite width.
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Singular Control
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state/adjoint dierential equations this simplies to v D S= D+c r c m v Note that the terms have cancelled out.
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S = 0. Equivalently, observe that the three conditions H = 0 S = 0 S = 0 are three linear homogeneous equations in the adjoint
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variables r , v , m. Since the adjoints can not all vanish simultaneously, this implies that the determinant must be zero. That is, v D+c D v c D+ m r2 =0
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