Conditional Cost Function and Necessary Optimality Conditions for Infinite Horizon Optimal Control Problems

An infinite horizon optimal control problem with general endpoint constraints is reduced to a family of standard problems on finite time intervals containing the conditional cost of the phase vector as a terminal term. A new version of the Pontryagin maximum principle containing an explicit characterization of the adjoint variable is obtained for the problem with a general asymptotic endpoint constraint. In the case of the problem with a free final state, this approach leads to a normal form version of the maximum principle formulated completely in the terms of the conditional cost function.