Properties of the Lagrange multipliers in the Pontryagin maximum principle for optimal control problems with state constraints

We study the Pontryagin maximum principle for an optimal control problem with state constraints. We analyze the continuity of a vector function μ (which is one of the Lagrange multipliers corresponding to an extremal by virtue of the maximum principle) at the points where the extremal trajectory meets the boundary of the set given by the state constraints. We obtain sufficient conditions for the continuity of μ in terms of the smoothness of the extremal trajectory. © 2012 Pleiades Publishing, Ltd.