gpops21

代码说明：

  GPOPS是一个可以进行大规模非线性优化的MATLAB工具箱.(GPOPS, short for General Pseudospectral OPtimal Control Software is a Matlab optimal control software designed to implement the Gauss and Radau hp-adaptive pseudospectral methods. These methods approximate the state using a basis of Lagrange polynomials and collocate the dynamics at either the Legendre-Gauss or Legendre-Gauss-Radau points. )