Optimal control via collocation and non-linear programming

The collocation method meshed with non-linear programming techniques provides an efficient strategy for the numerical solut.ion of optimal control problems. Good accuracy can be obtained for the state and the control trajectories as well as for the value of t.he objective function. In addition. the control strategy can he quite flexible in form. However. it is necessary to select the appropriate number of collocation points and number of parameters in t.he approximating functions with care.