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The problem is to maximize the functional  \\[  \\int_{t_0}^{t_1} f(t, x(t), u(t)) dt \\, .  \\]  Under smoothness and convexity conditions on the right side of the equation and the functional, it is known that an optimal control exists and can be expressed directly from the trajectories by a feedback law. In absence of convexity, optimal controls may be relaxed rather than ordinary, but suboptimal controls can still be constructed by feedback (a suboptimal control misses the maximum by \\(\\epsilon > 0,\\) where \\(\\epsilon\\) is fixed in advance). 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