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We will make the following assump-tions, 1. uis unconstrained, so that the solution will always be in the interior. *FREE* shipping on qualifying offers. We will make the following assump-tions, 1. uis unconstrained, so that the solution will always be in the interior. We will make the following assump-tions, 1. uis unconstrained, so that the solution will always be in the interior. A 'read' is counted each time someone views a publication summary (such as the title, abstract, and list of authors), clicks on a figure, or views or ... (PDF) Kirk optimal control theory solution manual Several examples are studied which demonstrate that points of nondifierentiability of the value function (and hence nonuniqueness of solutions) are nevertheless to be expected in practice. This book presents solutions to selected problems for the book Optimal Control Theory: An Introduction by Donald Kirk 14 tables. 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