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A control-trajectory pair \\((\\bar x(t), \\bar u(t))\\) with \\(\\bar u(t)\\) essentially bounded is an \\textit{extremal} of this problem if it satisfies Pontryagin's maximum principle  \\[  H(t, \\bar x(t), \\bar u(t), p(t)) \\geq H(t, \\bar x(t), u, p(t)) \\quad (S \\leq t \\leq T) \\, , \\quad u \\in U(t) \\eqno(1)  \\]  where \\(H(t, x, u, p) = p^Tf(t, x, u)\\) and \\(p(t)\\) satisfies the final value problem  \\[  (p^T)'(t) = - H_x(t, \\bar x(t), \\bar u(t), p(t)) \\quad (S \\leq t \\leq T) \\, , \\quad p^T(T) = - \\lambda_0 \\varphi'(\\bar x(T)) - \\lambda^T \\psi'(\\bar x(T))  \\]  with \\((\\lambda_0, \\lambda) = (\\lambda_0, \\lambda_1, \\dots \\lambda_p) \\neq 0.\\) An extremal \\((\\bar x(t), \\bar u(t))\\) is \\textit{singular in the sense of Pontryagin's maximum principle} if equality holds in (1) in some subinterval \\(I\\) of \\([S, T],\\)  \\[  H(t, \\bar x(t), \\bar u(t), p(t)) = H(t, \\bar x(t), u, p(t)) \\quad (t \\in I) \\, , \\quad u \\in V(t)  \\]  where \\(V(t) 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