I know how to derive the transversality condition in simple models like the Ramsey model.
However, I am looking to develop a deeper understanding of transversality conditions in more complex models. However most macroeconomics books I've seen only have about 1 page about the transversality condition, namely its simplest form.
Is there a good book that shows how to deal with more complex trannversality conditions than the one in the ramsey model? e.g. if the utility function contains a term for assets?