The optimal pacing strategy of a cyclist in an individual time-trial depends on terrain, weather conditions and the cyclists endurance capacity. Previous experimental and theoretical studies have shown that a suboptimal pacing strategy may have a substantial negative effect. In this paper we express the optimal pacing problem as a mathematical optimal control problem which we solve using Pontryagin's maximum principle. Our solution of the pacing problem is partly numerical and partly analytical. It applies to a straight course without bends. It turns out that the optimal pacing problem is a singular control problem. Intricate mathematical arguments are required to prove that the singular control times form a single interval: optimal pacing starts with maximum power and decays through a singular control, which may be degenerate, to minimum power.
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