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Direct Transcription Methods in Optimal Control: Theory and Practice

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Figure

Figure 1.1: The Trolley Control System.
Table 1.1: Order of Runge-Kutta discretization as an integrator.
Table 2.1: Order of Runge-Kutta discretization for optimal control.
Figure 2.1: Example problem solved with TR. Graph of y∗−y for N = 10, 20, 40, 80.
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