Optimal control problems with delay, the maximum principle and necessary conditions

In this paper we consider a rather general optimal control problem involving ordinary differential equations with delayed arguments and a set of equality and inequality restrictions on state- and control variables. For this problem a maximum principle is given in pointwise form, using variational techniques. From this maximum principle necessary conditions are derived, as well as a Lagrange-like multiplier rule. Details may be found in ref. [2], together with extensions to the Hamilton-Jacobi equation and free end point problems.