Calculus of variations
2 πZT
0x(t)r
1 +x2
dt!min
x( 0 )=a
The solution of the EulerñLagrange equation is still of the formx(t)=αcht β
αbut we should also have the conditionx( 0 )=aand the transversality
0 = φ^0 b(x(b))= Fx^0b,x(b),x(b)