A "do it yourself" Direct Colver (part 4/4)
After introducing a optimal control problems of Mayer type with general constraints, we detail a simple discretisation in terms of nonlinear mathematical program. We recall Runge-Kutta methods for ODE’s and treat Goddard problem as an example for the hands-on sessions.
 
     
	
                 
                 
	
                 
	
                 
	
               
	
               
	
               
	
               
	
               
	
               
	
               
	
         
	
           
                       
	
           
	
           
	
           
	
           
	
           
	
           
	
           
	
           
      
    