Journal
NUMERISCHE MATHEMATIK
Volume 87, Issue 2, Pages 247-282Publisher
SPRINGER HEIDELBERG
DOI: 10.1007/s002110000178
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The convergence rate is determined for Runge-Kutta discretizations of nonlinear control problems. The analysis utilizes a connection between the Kuhn-Tucker multipliers for the discrete problem and the adjoint variables associated with the continuous minimum principle. This connection can also be exploited in numerical solution techniques that require the gradient of the discrete cost function.
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