A great number of analysis and synthesis problems of modern processes can be written as state and control constrained optimal control problems governed by ordinary differential equations with multipoint boundary values. As the software tools for following this attractive approach are still missing or can be used only by experts, the structure and usage of an easy-to-use software package is described which efficiently solves the given problem. Among its features are user-orientation, applicability on personal computers and mainframes, and robustness with respect to model changes and inaccurate starting values. It has been tested on a number of complex engineering tasks, including aerospace and robotic trajectory planning. (Source:

This software is also peer reviewed by journal TOMS.

References in zbMATH (referenced in 13 articles , 1 standard article )

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  1. Aragón, Alejandro M.; Molinari, Jean-François: A hierarchical detection framework for computational contact mechanics (2014)
  2. Lantoine, Gregory; Russell, Ryan P.: A hybrid differential dynamic programming algorithm for constrained optimal control problems. I: Theory (2012)
  3. Morzhin, O.V.; Tyatyushkin, A.I.: On optimization of position control in attainability tube in a model problem (2010)
  4. Pérez, Laura V.; Pilotta, Elvio A.: Optimal power split in a hybrid electric vehicle using direct transcription of an optimal control problem (2009)
  5. Tyatyushkin, A.I.; Morzhin, O.V.: Constructive methods of control optimization in nonlinear systems (2009)
  6. Morzin, O.V.; Tyatyushkin, A.I.: An algorithm of the method of sections and program tools for constructing reachable sets of nonlinear control systems (2008)
  7. Tyatyushkin, A.I.; Morzhin, O.V.: An algorithm for numerical synthesis of optimal control (2008)
  8. Badescu, Viorel: Optimal control of flow in solar collectors for maximum exergy extraction (2007)
  9. Alemdar, Nedim M.; Sirakaya, Sibel; Hüsseinov, Farhad: Optimal time aggregation of infinite horizon control problems (2006)
  10. Binder, Thomas; Blank, Luise; Bock, H.Georg; Bulirsch, Roland; Dahmen, Wolfgang; Diehl, Moritz; Kronseder, Thomas; Marquardt, Wolfgang; Schlöder, Johannes P.; von Stryk, Oskar: Introduction to model based optimization of chemical processes on moving horizons (2001)
  11. Liu, Guan-Yu; Wu, Chia-Ju: A discrete method for time-optimal motion planning of a class of mobile robots (2001)
  12. Gill, Philip E.; Murray, Walter; Saunders, Michael A.: Large-scale SQP methods and their application in trajectory optimization (1994)
  13. Kraft, D.: Algorithm 733: TOMP--Fortran modules for optimal control (1994)