| Abstract: | In this report the necessary conditions for optimal non‐smooth control of rigid body mechanical systems with multiple impacts will be stated in accordance with Pontryagin's Minimum Principle. Criteria based on the Weierstrass‐Erdmann (WE) conditions and contemporary impact theory will be established in order to assess the optimality of an impact.The determination of post‐impact state and costate values from the pre‐impact values will be possible in some cases. (© 2004 WILEY‐VCH Verlag GmbH & Co. KGaA, Weinheim) |
