Practical transformation of degenerate optimal control problems

The paper devoted to application of parametrized control model for transformation of system with unconstrained control to a new regular model. The time interval is devided by finite numer of intervals and family of transformations is considered. For every single interval a concrete transformation is used. As a result, we have a controllable system that can be manipulated as a regular. The solution of the problem is realized as a pulse mode in original class.