Controllability for problems with mixed constraints (Q2135108)

Sufficient conditions for the existence of feasible positional controls are obtained in terms of first derivatives of mappings that define the mixed constraints for a controlled system with mixed equality- and inequality-type constraints and a geometric constraint that is a nonempty closed convex set. In addition, in terms of the first and second derivatives of these mappings, sufficient conditions for the existence of feasible positional controls are found that are also applicable in the case of degeneration of the first derivatives of the mappings. Examples justify the theory nicely. The mixed constraints for a controlled system are studied for the finite dimension and can be extended to the infinite dimension. Nicely written article and useful to the readers.