A Bliss-Type Multiplier Rule for Constrained Variational Problems with Time Delay

This paper gives a Bliss-type multiplier rule for general constrained variational problems with time delay. Our formulation allows the time delay terms and their derivatives to be present in both the objective functional and the equality and inequality constraint equations. Our major results include a Lagrange Multiplier Rule involving Euler]Lagrange equations for delay differential equations and transversality conditions. Of special note is that these results will be used in later work by the authors to obtain new analytical techniques to solve general constrained problems involving delay differential equations for the Calculus of Variations and for Optimal Control Theory. They will also lead to new general, accurate, and efficient numerical methods to solve these important problems where no such methods exist at this time. Thus, for the first time, we will be able to solve this important class of problems obtaining analytic solutions for simpler problems and accurate numerical results for more complex problems when such a solution exists.