“…21 The goal is to minimize the total (expected) accumulated cost, which may be discounted 12,[14][15][16]18,19,21 or not. 8,12,13,17,20,22 The popular method of attack to such problems is dynamic programming. 12,[14][15][16]18,19,21,23 In other works, 11,20,22,24 versions of the Pontryagin maximum principle are used.…”