In this article, a free-time impulsive control problem with state constraints and equality and inequality constraints on the trajectory endpoints is considered. A weakened maximum principle is obtained for problems with data measurable in the time variable, being the time transversality conditions deduced with the help of some extra convexity assumption on the state constraints. In the case of smooth problems a nondegenerate maximum principle is derived by using a penalty function method.

This paper concerns the investigation of a general impulsive control problem. The considered impulsive processes are of non-standard type: control processes admit ordinary type controls as the impulse develops. New necessary conditions of optimality in the form of Pontryagin Maximum Principle are obtained. These conditions are applied to a model problem and are shown to yield useful information about optimal control modes.