Necessary conditions of optimality in the form ofUnmaximized Inclusions (UI) are derived for optimal controlproblems with state constraints. The conditions presented heregeneralize earlier optimality conditions to problems that may benonconvex. The derivation of UI-type conditions in the absence of the convexity assumption is of particularimportance when deriving necessary conditions for constrainedproblems. We illustrate this feature by establishing, as anapplication, optimality conditions for problems that in additionto state constraints incorporate mixed state-control constraints.
