A stable approximation of a constrained optimal control for continuous casting

A simple model optimal control problem for continuous casting with state-space constraints is approximated, as usual, by a penalty method and by a numerical discretization of the nonlinear heat equation. The convergence of the approximate problems directly to the original problem is proven under a stability criterion linking the penalty parameter with the discretization parameters. For this purpose, known discretization error estimates for the Stefan problem are extended for the case of time varying boundary conditions.