Sufficient conditions for a local minimum of the Bolza problem with multiple terminal point constraints

Sufficient conditions for a weak relative minimum are derived for a form of the Bolza problem of variational calculus. The derivation ties together first-order and second-order conditions in a unified consistent manner, addresses controllability considerations in some detail, and clarifies some small inconsistencies in earlier work. The resulting second-order conditions of optimality involve the integration of fewer backward-sweep matrix elements than the standard conditions in the literature for problems with an unspecified final time. As a result, the backward-sweep matrices have the same general structure and dimensionality whether the final time is specified or free, with the terminal values of two of three sweep matrices being more complicated in the latter case.