[fghorow]

At first glance, this approach appears to re-invent an applied mathematics approach to optimal control. There, one writes a generalized Hamiltonian, from which forward and backward-in-time paths can be iterated.

The Pontryagin maximum (or minumum, if you define your objective function with a minus sign) principle is the essence to that approach to optimal control.

[SleekEagle]

I've never heard of Pontryagin's maximum principle, but thanks for bringing it to my attention. I think my knowledge of dynamical systems and control theory isn't quite up-to-snuff at the moment to fully understand it, but it's bookmarked for another day! thanks again