On duality in problems of optimal control described by convex differential inclusions of Goursat–Darboux type

Sufficient conditions of optimality are derived for convex and non-convex problems with state constraints on the basis of the apparatus of locally conjugate mappings. The duality theorem is formulated and the conditions under which the direct and dual problems are connected by the duality relation are searched for.  2005 Elsevier Inc. All rights reserved