Jacobi fields in optimal control: one-dimensional variations (Q2198590)

In this article which is closely related to a previous preprint [the authors, ``Jacobi fields in optimal control: Morse and Maslov indices'', Preprint, \url{arXiv:1810.02960}], the authors specify general theory developed there. They study the structure of Jacobi fields in the case of an analytic system and piecewise analytic control, considering one-dimensional control variations. Jacobi fields are piecewise analytic in this case but may have jump discontinuities. They derive ODEs that these fields satisfy on the intervals of regularity and study behavior of the fields in a neighbourhood of a singularity where the ODE becomes singular and the Jacobi fields may have jumps.