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The sequence \\( \\{u_t; t = 0, \\dots, T-1 \\}\\) in \\(\\mathbb R^m\\) is the control sequence, and the problem is that of minimizing the functional \\[ \\sum_{t=0}^{T-1} c_t(x_t, u_t) + c_T(x_T) \\] over all control sequences. There are three types of constraints: state, control and frequency. The state constraints are \\(x_0 = q_0\\) and \\(g_t(x_t) \\le 0\\) \\((t = 1, \\dots, T)\\), where \\(g_t\\) maps \\(\\mathbb M\\) into \\(\\mathbb R^{n(t)}\\). The control constraint is the usual \\(u_t \\in U_t\\) \\((t = 0, \\dots, T-1)\\). Finally, the frequency constraints exclude certain components of the discrete Fourier transform of the control sequence, and can be reduced to \\(\\sum F_tu_t = 0\\), where the \\(F_t\\) are appropriate matrices. The authors introduce the adjoint trajectory and prove Pontryagin's maximum principle in the usual Hamiltonian minimization form \\(\\langle H_t, u_t\\rangle \\le \\langle H_t, \\bar u_t \\rangle = 0\\) for controls \\(\\{u_t\\}\\) near the optimal control \\(\\{\\bar u_t\\}\\), although \\(H_t\\) is not the true Hamiltonian due to the constraints. The principle includes a complementary slackness condition and a transversality condition. The method used is imbedding \\(\\mathbb M\\) in an Euclidean space, proving the maximum principle there and then restrict it to \\(\\mathbb M\\). 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