Abstract: A theory of global optimality based upon the Darboux-point concept is developed. A definition is proposed for the Darboux point, and the Darboux point is shown to exist on nonglobally optimal trajectories under relatively general conditions. A mutually exclusive classification of Darboux points is noted, and several properties are proved for one of these classes (the Type-1 Darboux point). Numerous examples are included to illustrate the Darboux-point definition and properties.