1.

4 ( i):

i xT > 0 ,
T > 0.
, ii . x(t) i
t [0, T ]. i t = 0 i, i,
x(0) = 0. i t = T , i i xT > 0 , i
xT > 0
t = T , , ', i x(T ) = xT . i x(t)  i i i
t [0, T ], , ,
x(t)

 i . i i i
x(t) i i x(t)

Rt
ii x(t) = x(s)ds

. i
0

i i: ii , ii i i i i i . c2 i i ,
1 x(t)

i i i, c1 > 0. i i - t [0, T ]

2
T C(t) = c1 x(t)
x(t)
+ c2 x(t) = c1 [x(t)]

+ c2 x(t)

i i i i
x(t)
, i i i, iii i [0, T ]. , i
' ii
Z T
2
min J[x()] =
[c1 [x(t)]

+ c2 x(t)]dt
x()

s.t.

x(0) = 0,

x(T ) = xT .

, i i i i i i'.
ii, i , . , ii i ii
i x(), , i,
i , ' i ii . i , ii
1

 i i, t ii
2
F (t, x(t), x(t))

= c1 [x(t)]

+ c2 x(t), i x() i x(t)

. i
t ii , ii
.
, i i i ii , i i, i i i.
i , x(t)

i , i i, i i , i
i. i u(t) = x(t)

 i i.
i i i i i
i. ', ii i
' i i i
' ii i i ( i i,
i). i i x(t)

' ii
i i u(t). ii i i i
i i.
T

[c1 [u(t)]2 + c2 x(t)]dt

min J[x(), u()] =

x()

s.t.

x(t)

= u(t)

x(0) = 0,

x(T ) = xT .

i i i.
, i iii i i ii, ' i
i i i ii, i
, i ii , ii ii ,
i i.