Optimization methods for the verification of second order sufficient conditions for bang–bang controls

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Local energy minimization in optimal train control (2009, background): “More recently Maurer et al, [17] consider second order sufficient conditions (SSC) which are particularly suited for numerical verification.”
Reformulations and algorithms for the optimization of switching decisions in nonlinear optimal control (2009, background): “Some authors propose to iterate on the maximum number of intervals until there is no further decrease in the objective function of the corresponding optimal solution, [19, 20, 25 ].”
On L1‐minimization in optimal control and applications to robotics (2006, background): “[4] and Osmolovskii and Maurer [12, 13] for bang–bang controls.”
Error bounds for Euler approximation of linear-quadratic control problems with bang-bang solutions (2012, unknown): “Here we use a different approach based on a second-order condition known from the stability analysis [17] of bang-bang controls (compare also [25] [24]).”
Switching Time Optimization for Bang-Bang and Singular Controls (2010, unknown): “[30] for bang-bang controls.”