Necessary second-order conditions for a weak local minimum in a problem with endpoint and control constraints

One of the first steps towards necessary second-order optimality conditions in problems with constraints was taken by Dubovitskii and Milyutin in 1965. They offered a scheme that was very effective in smooth optimization problems, but seemed to be not suitable for applications in problems with pointwise control constraints. In this article we consider a modification of the Dubovitskii-Milyutin scheme, which allows to derive necessary second-order conditions for a weak local minimum in optimal control problems with a finite number of endpoint constraints of equality and inequality type and with pointwise control constraints of inequality type given by smooth functions. Assuming that the gradients of active control constraints are linearly independent, we provide rather straightforward proof of these conditions for a measurable and essentially bounded optimal control.