In chapter 1 , we review the history of optimal control theory and point out that there are still three basic problems in optimal control research , i . e . , infinite time interval , unbounded controls , and function in system not being f - differentiable . we see that it is still a weakish in optimal control theory to overcome these difficulties 在第一章中，我们回顾了最优控制理论的发展历史，提出了当前研究中仍存在的三个基本问题? ?即无限时间区域问题、无界控制问题、以及系统函数不为f -可导问题。
