The authors derive a computable lower bound on the continuous second variation from discrete KKT points and residuals, providing a sufficient certificate for second-order sufficiency when the bound is positive.
Adaptive mesh refinement method for optimal control using nonsmoothness detection and mesh size reduction,
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A Posteriori Second-Order Guarantees for Bolza Problems via Collocation
The authors derive a computable lower bound on the continuous second variation from discrete KKT points and residuals, providing a sufficient certificate for second-order sufficiency when the bound is positive.