Introduction - If you have any usage issues, please Google them yourself
PSOPT is an open source optimal control package written in C++ that uses
direct collocation methods. These methods solve optimal control problems
by approximating the time-dependent variables using global or local polynomials.
This allows to discretize the differential equations and continuous constraints
and to compute any integrals associated with the problem using well known quadrature formulas. Nonlinear programming then is used to find local optimal solutions.