The Mayer form of a variational or optimal control problem has a cost depending only on the endpoint times and states. The Mayer term is
the part of the cost that depends on these quantities. In Mayer form it is the entire
cost. A Bolza problem with integrand 
and endpoint cost 
on ![[t_0,t_1]](/images/equations/MayerForm/Inline3.svg)
can be put in Mayer form by adding a state 
with 
and
 |
where primes denote derivatives with respect to time 
. The new endpoint cost is 
,
which includes the accumulated integral of 
(Liberzon 2012).
