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In this paper, we obtain the first-order necessary optimality conditions of an optimal control problem for a distributed parameter system with geometric control, namely, the minimum-drag problem in Stokes flow (flow at a very low Reynolds number). We find that the unit-volume body with smallest drag must be such that the magnitude of the normal derivative of the velocity of the fluid is constant on the boundary of the body. In a three-dimensional uniform flow, this condition implies that the body with minimum drag has the shape of a pointed body similar in general shape to a prolate spheroid but with some differences including conical front and rear ends of angle 120°.
Olivier Pironneau (Tue,) studied this question.