Calculus of variations
2 π
ZT
0
x(t)
r
1 +
x
2
dt!min
x( 0 )=a
The solution of the EulerñLagrange equation is still of the form
x(t)=αch
t β
α
but we should also have the conditionx( 0 )=aand the transversality
0 = φ^0 b(x(b))= Fx^0
b,x(b),x(b)