I'm studying nonlinear control systems and I have some questions about the nature of this optimal control given by PMP:
- Traditionally, control methods based on Pontryagin's Minimum Principle (PMP) and Euler's method (or Runge Kutta) have been extensively used to address nonlinear system control problems. Is there a potential to get trapped in local minima resulting in suboptimal control outcomes?
- If there is one, why do we call it "optimal"?