The problem of optimal low-thrust transfer between inclined orbits is reformulated within the framework of optimal control theory. The original treatment considered the time-constrained inclination maximization with velocity as the independent variable allowing the use of the theory of maxima. Because the independent variable is double valued for some transfers, two expressions for the inclination change involving inverse-sine functions are needed to describe all possible transfers. The present analysis casts this problem as a minimum-time transfer between given noncoplanar circular orbits and obtains a single analytic expression for the orbital inclination involving a single inverse-tangent function, uniformly valid for all transfers. The D V penalty with respect to the exact transfer solution using the full six-state dynamic equations with optimized thrust pro le during the transfer is shown to be small.
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