Local energy minimization in optimal train control

The key principles of optimal train control—Part 1: Formulation of the model, strategies of optimal type, evolutionary lines, location of optimal switching points

The key principles of optimal train control—Part 2: Existence of an optimal strategy, the local energy minimization principle, uniqueness, computational techniques

Energy-efficient train control: From local convexity to global optimization and uniqueness

Energy-efficient train control

Energy-Efficient Train Control