Optimality conditions and Lagrangian duality in continuous-time nonlinear programming

Using a perturbation approach, the Kuhn-Tucker saddlepoint and stationary-point optimality conditions and a Lagrangian duality theory are established for a general class of continuous-time nonlinear programming problems. It is shown that most of the duality formulations in the existing literature of continuous programming are special cases of this Lagrangian formulation.