Legendre-Clebsch condition
- Legendre-Clebsch condition
In optimal control, the Legendre-Clebsch condition, also known as convexity[cite book]
author = Choset, H.M.
year = 2005
title = Principles of Robot Motion: Theory, Algorithms, and Implementation
publisher = The MIT Press
isbn = 0262033275] , is a sufficient condition for local optimality such that when the linear sensitivity of the Hamiltonian to changes in u is zero, i.e.,The Hessian of the Hamiltonian is positive definite along the trajectory of the solution:
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