Hi All,

I am working on a mobile robot project, using optimal control. I know how to obtain Euler-Lagrange equations for a system with dynamic equation in the form:

dx/dt = f(x,u), where x is the state vector, u is the control

Now if my dynamic equation has the form of

dx/dt = f(x,u, u', u''), where u' = du/dt and u'' = d^u/dt^2.

Can this type of problem be solved by optimal control? What are the equivalent Euler-Lagrange equations?

Thanks in advance,

Everett