8 Rao Anil V, Benson David A, Darby Christopher, et al. Algorithm 902: Gpops, a Matlab software for solving multiple-phase optimal control problems using the Gauss pseudospectral method.ACM Transactions on Mathematical Software, 2010, 37(2): 1-39
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9 Christopher L Darby, William W Hager, Anil V Rao. An hp-adaptive pseudospectral method for solving optimal control problem. Optimal Control Applications and Methods, 2011, 32 (4): 476-502