POCP

POCP: a package for polynomial optimal control problems: POCP is a free Matlab package using GloptiPoly 3, and, optionally, YALMIP. It is aimed at approximately solving nonlinear optimal control problems for which all the problem data are polynomial. POCP reformulates such control problems as generalized problems of moments, in turn converted by GloptiPoly 3 as semidefinite programming problems. (Source: http://plato.asu.edu)