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## Pseudospectral optimal control solver PSOPT

PSOPT, an open source pseudospectral optimal control solver written in C++, solves optimal control problems by approximating the time-dependent variables using orthogonal polynomials. This allows to discretize the differential equations and continuous constraints over a grid of nodes, and to compute any integrals associated with the problem using well known quadrature formulas. PSOPT is able to deal with single or multiphase problems with continuous time nonlinear dynamics, general endpoint constraints, nonlinear path constraints, integral constraints, interior point constraints, bounds on controls and state variables, general cost function with Lagrange and Mayer terms, free or fixed initial and final conditions, linear or nonlinear linkages between phases, and fixed or free initial and final times.

PSOPT has the following features: choice between Legendre or Chebyshev polynomial approximation, automatic scaling, automatic differentiation using the ADOL-C library, numerical differentiation by using sparse finite differences, automatic identification of the Jacobian sparsity, DAE formulation, so that differential and algebraic constraints can be implemented in the same C++ function, and an easy to use interface to GNUplot to produce graphical output.

Please visit the PSOPT home page for further details, documentation, and download links.