├── .gitignore ├── INSTALL_DTQP.m ├── License ├── README.md ├── examples ├── ACC2021 │ ├── README.md │ └── detailed-suspension-acc │ │ ├── DSuspensionProblem_Parameters.m │ │ ├── DSuspension_Simulation.m │ │ ├── DSuspension_plot.m │ │ ├── README.md │ │ ├── assets │ │ ├── IRI_737b.mat │ │ ├── RoughMeshAllison2014b.mat │ │ ├── acc2021-image-1.svg │ │ ├── acc2021-image-2.svg │ │ ├── code.tex │ │ └── formulation.svg │ │ ├── nested │ │ ├── DSuspensionNested.m │ │ ├── DSuspensionNested_DesignConstraints.m │ │ ├── DSuspensionNested_FeasibilityTests.m │ │ ├── DSuspensionNested_InnerLoopCommonSetup.m │ │ ├── DSuspensionNested_InnerLoopFeasible.m │ │ ├── DSuspensionNested_InnerLoopRamp.m │ │ ├── DSuspensionNested_InnerLoopRough.m │ │ ├── DSuspensionNested_LinearDesignConstraints.m │ │ ├── DSuspensionNested_RampStateConstraints.m │ │ ├── DSuspensionNested_RoughStateConstraints.m │ │ └── DSuspensionNested_Sens.m │ │ └── simultaneous │ │ ├── DSuspensionSimultaneous.m │ │ └── DSuspensionSimultaneous_Sens.m ├── DTQP_standardizedinputs.m ├── IMECE2020-23885 │ └── IMECE2020_23885_Run_Examples.m ├── README.md ├── linear-quadratic │ ├── DTQP_sensmethods.m │ ├── DTQP_template.m │ ├── README.md │ ├── anderson-moore-64 │ │ ├── AndersonMoore64.m │ │ ├── AndersonMoore64_output.m │ │ ├── AndersonMoore64_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── AndersonMoore64_F.m │ │ │ ├── AndersonMoore64_U.m │ │ │ ├── AndersonMoore64_Y.m │ │ │ └── AndersonMoore64_syms.m │ ├── betts-biehn-campbell-1 │ │ ├── BettsBiehnCampbell1.m │ │ ├── BettsBiehnCampbell1_output.m │ │ ├── BettsBiehnCampbell1_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BettsBiehnCampbell1_F.m │ │ │ ├── BettsBiehnCampbell1_U.m │ │ │ ├── BettsBiehnCampbell1_Y.m │ │ │ └── BettsBiehnCampbell1_syms.m │ ├── bryson-denham │ │ ├── BrysonDenham.m │ │ ├── BrysonDenham_output.m │ │ ├── BrysonDenham_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonDenham_F.m │ │ │ ├── BrysonDenham_U.m │ │ │ └── BrysonDenham_Y.m │ ├── bryson-ho-109 │ │ ├── BrysonHo109.m │ │ ├── BrysonHo109_g.m │ │ ├── BrysonHo109_output.m │ │ ├── BrysonHo109_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── .gitignore │ │ │ └── BrysonHo109_solution.m │ ├── bryson-ho-116 │ │ ├── BrysonHo116.m │ │ ├── BrysonHo116_output.m │ │ ├── BrysonHo116_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── alternative.svg │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo116_F.m │ │ │ ├── BrysonHo116_U.m │ │ │ ├── BrysonHo116_Y.m │ │ │ └── BrysonHo116_syms.m │ ├── bryson-ho-153 │ │ ├── BrysonHo153.m │ │ ├── BrysonHo153_output.m │ │ ├── BrysonHo153_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo153_F.m │ │ │ ├── BrysonHo153_U.m │ │ │ ├── BrysonHo153_Y.m │ │ │ └── BrysonHo153_syms.m │ ├── bryson-ho-154 │ │ ├── BrysonHo154.m │ │ ├── BrysonHo154_output.m │ │ ├── BrysonHo154_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo154_F.m │ │ │ ├── BrysonHo154_U.m │ │ │ ├── BrysonHo154_Y.m │ │ │ └── BrysonHo154_syms.m │ ├── bryson-ho-156 │ │ ├── BrysonHo156.m │ │ ├── BrysonHo156_output.m │ │ ├── BrysonHo156_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo156_F.m │ │ │ ├── BrysonHo156_U.m │ │ │ ├── BrysonHo156_Y.m │ │ │ └── BrysonHo156_syms.m │ ├── bryson-ho-166 │ │ ├── BrysonHo166.m │ │ ├── BrysonHo166_output.m │ │ ├── BrysonHo166_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo166_F.m │ │ │ ├── BrysonHo166_U.m │ │ │ ├── BrysonHo166_Y.m │ │ │ └── BrysonHo166_syms.m │ ├── bryson-ho-248 │ │ ├── BrysonHo248.m │ │ ├── BrysonHo248_output.m │ │ ├── BrysonHo248_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── BrysonHo248_F.m │ │ │ ├── BrysonHo248_T.m │ │ │ ├── BrysonHo248_U.m │ │ │ ├── BrysonHo248_Y.m │ │ │ └── BrysonHo248_syms.m │ ├── cart │ │ ├── Cart.m │ │ ├── Cart_output.m │ │ ├── Cart_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── Cart_F.m │ │ │ ├── Cart_U.m │ │ │ ├── Cart_Y.m │ │ │ └── Cart_syms.m │ ├── dt-qp-1 │ │ ├── DTQP1.m │ │ ├── DTQP1_output.m │ │ ├── DTQP1_plot.m │ │ ├── README.md │ │ └── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ ├── dt-qp-2 │ │ ├── DTQP2.m │ │ ├── DTQP2_output.m │ │ ├── DTQP2_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── DTQP2_L.m │ │ │ ├── DTQP2_U.m │ │ │ ├── DTQP2_Y.m │ │ │ └── DTQP2_syms.m │ ├── dt-qp-3 │ │ ├── DTQP3.m │ │ ├── DTQP3_output.m │ │ ├── DTQP3_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── DTQP3_F.m │ │ │ ├── DTQP3_U.m │ │ │ ├── DTQP3_Y.m │ │ │ └── DTQP3_syms.m │ ├── gas-absorber │ │ ├── GasAbsorber.m │ │ ├── GasAbsorber_output.m │ │ ├── GasAbsorber_plot.m │ │ ├── README.md │ │ └── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ ├── greenhouse-climate │ │ ├── GreenhouseClimate.m │ │ ├── GreenhouseClimate_output.m │ │ ├── GreenhouseClimate_plot.m │ │ ├── README.md │ │ └── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ ├── hager-1 │ │ ├── Hager1.m │ │ ├── Hager1_output.m │ │ ├── Hager1_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── Hager1_F.m │ │ │ ├── Hager1_U.m │ │ │ ├── Hager1_Y.m │ │ │ └── Hager1_syms.m │ ├── hdae │ │ ├── HDAE.m │ │ ├── HDAE_output.m │ │ ├── HDAE_plot.m │ │ ├── README.md │ │ └── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ ├── jaddu-shimemura │ │ ├── JadduShimemura.m │ │ ├── JadduShimemura_output.m │ │ ├── JadduShimemura_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── 0 │ │ │ ├── JadduShimemura0_F.m │ │ │ ├── JadduShimemura0_U.m │ │ │ ├── JadduShimemura0_Y.m │ │ │ └── JadduShimemura0_syms.m │ │ │ ├── 1 │ │ │ ├── JadduShimemura1_I_t1.m │ │ │ ├── JadduShimemura1_I_t2.m │ │ │ ├── JadduShimemura1_I_t3.m │ │ │ ├── JadduShimemura1_U_t1.m │ │ │ ├── JadduShimemura1_U_t1_error.m │ │ │ ├── JadduShimemura1_U_t2.m │ │ │ ├── JadduShimemura1_U_t2_error.m │ │ │ ├── JadduShimemura1_U_t3.m │ │ │ ├── JadduShimemura1_Y_t1.m │ │ │ ├── JadduShimemura1_Y_t2.m │ │ │ ├── JadduShimemura1_Y_t3.m │ │ │ ├── JadduShimemura1_constraints.m │ │ │ ├── JadduShimemura1_objective.m │ │ │ ├── JadduShimemura1_parameters.m │ │ │ └── JadduShimemura1_syms.m │ │ │ ├── 2 │ │ │ ├── JadduShimemura2_I_t1.m │ │ │ ├── JadduShimemura2_I_t2.m │ │ │ ├── JadduShimemura2_U_t1.m │ │ │ ├── JadduShimemura2_U_t1_error.m │ │ │ ├── JadduShimemura2_U_t2.m │ │ │ ├── JadduShimemura2_Y_t1.m │ │ │ ├── JadduShimemura2_Y_t2.m │ │ │ ├── JadduShimemura2_constraints.m │ │ │ ├── JadduShimemura2_objective.m │ │ │ ├── JadduShimemura2_parameters.m │ │ │ └── JadduShimemura2_syms.m │ │ │ └── 3 │ │ │ ├── JadduShimemura2_U_t1_error.m │ │ │ ├── JadduShimemura3_I_t1.m │ │ │ ├── JadduShimemura3_I_t2.m │ │ │ ├── JadduShimemura3_U_t1.m │ │ │ ├── JadduShimemura3_U_t2.m │ │ │ ├── JadduShimemura3_Y_t1.m │ │ │ ├── JadduShimemura3_Y_t2.m │ │ │ ├── JadduShimemura3_objective.m │ │ │ ├── JadduShimemura3_parameters.m │ │ │ └── JadduShimemura3_syms.m │ ├── linear-pendulum │ │ ├── LinearPendulum.m │ │ ├── LinearPendulum_output.m │ │ ├── LinearPendulum_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── LinearPendulum_F.m │ │ │ ├── LinearPendulum_U.m │ │ │ ├── LinearPendulum_Y.m │ │ │ ├── LinearPendulum_Y1.m │ │ │ ├── LinearPendulum_Y2.m │ │ │ └── LinearPendulum_syms.m │ ├── lqr-inhomogeneous │ │ ├── LQRInhomogeneous.m │ │ ├── LQRInhomogeneous_d.m │ │ ├── LQRInhomogeneous_output.m │ │ ├── LQRInhomogeneous_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── .gitignore │ │ │ └── LQRInhomogeneous_solution.m │ ├── lqr-scalar-transfer │ │ ├── LQRScalarTransfer.m │ │ ├── LQRScalarTransfer_output.m │ │ ├── LQRScalarTransfer_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── LQRScalarTransferSymFun.mat │ │ │ ├── LQRScalarTransfer_F.m │ │ │ ├── LQRScalarTransfer_SymFun.m │ │ │ ├── LQRScalarTransfer_U.m │ │ │ ├── LQRScalarTransfer_Y.m │ │ │ └── LQRScalarTransfer_syms.m │ ├── lqr-scalar │ │ ├── LQRScalar.m │ │ ├── LQRScalar_output.m │ │ ├── LQRScalar_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── LQRScalar_C1.m │ │ │ ├── LQRScalar_C2.m │ │ │ ├── LQRScalar_C3.m │ │ │ ├── LQRScalar_F.m │ │ │ ├── LQRScalar_U.m │ │ │ ├── LQRScalar_Y.m │ │ │ └── LQRScalar_syms.m │ ├── lqr-standard │ │ ├── LQRstandard.m │ │ ├── LQRstandard_output.m │ │ ├── LQRstandard_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── .gitignore │ │ │ └── LQRstandard_solution.m │ ├── minimum-energy-transfer │ │ ├── MinimumEnergyTransfer.m │ │ ├── MinimumEnergyTransfer_output.m │ │ ├── MinimumEnergyTransfer_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ └── MinimumEnergyTransfer_solution.m │ ├── multiphase-parameter │ │ ├── MultiphaseParameter.m │ │ ├── MultiphaseParameter_output.m │ │ ├── MultiphaseParameter_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── MultiphaseParameter_F1.m │ │ │ ├── MultiphaseParameter_F2.m │ │ │ ├── MultiphaseParameter_F3.m │ │ │ ├── MultiphaseParameter_Y1.m │ │ │ ├── MultiphaseParameter_Y2.m │ │ │ ├── MultiphaseParameter_Y3.m │ │ │ ├── MultiphaseParameter_solution.m │ │ │ └── MultiphaseParameter_syms.m │ ├── nagurka │ │ ├── Nagurka.m │ │ ├── Nagurka_output.m │ │ ├── Nagurka_plot.m │ │ ├── README.md │ │ └── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ ├── output-tracking │ │ ├── OutputTracking.m │ │ ├── OutputTracking_o.m │ │ ├── OutputTracking_output.m │ │ ├── OutputTracking_plot.m │ │ ├── README.md │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── .gitignore │ │ │ └── OutputTracking_solution.m │ ├── tavallaei-tousi-1 │ │ ├── README.md │ │ ├── TavallaeiTousi1.m │ │ ├── TavallaeiTousi1_output.m │ │ ├── TavallaeiTousi1_plot.m │ │ ├── assets │ │ │ ├── code.tex │ │ │ └── formulation.svg │ │ └── solution │ │ │ ├── .gitignore │ │ │ └── TavallaeiTousi1_solution.m │ └── turner-chun-juang-1 │ │ ├── README.md │ │ ├── TurnerChunJuang1.m │ │ ├── TurnerChunJuang1_output.m │ │ ├── TurnerChunJuang1_plot.m │ │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ │ └── solution │ │ ├── TurnerChunJuang1_F.m │ │ ├── TurnerChunJuang1_U.m │ │ ├── TurnerChunJuang1_Y.m │ │ └── TurnerChunJuang1_syms.m └── nonlin │ ├── README.md │ ├── alp-rider │ ├── AlpRider.m │ ├── AlpRider_output.m │ ├── AlpRider_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── batch-fermentor-penicillin │ ├── BatchFermentorPenicillin.m │ ├── BatchFermentorPenicillin_output.m │ ├── BatchFermentorPenicillin_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── brachistochrone │ ├── Brachistochrone.m │ ├── Brachistochrone_output.m │ ├── Brachistochrone_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── Brachistochrone_U.m │ │ ├── Brachistochrone_Y.m │ │ ├── Brachistochrone_solution.m │ │ └── Brachistochrone_syms4.m │ ├── bryson-ho-59 │ ├── BrysonHo59.m │ ├── BrysonHo59_output.m │ ├── BrysonHo59_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ └── BrysonHo59_solution.m │ ├── bryson-ho-63 │ ├── BrysonHo63.m │ ├── BrysonHo63_output.m │ ├── BrysonHo63_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ └── BrysonHo63_solution.m │ ├── bryson-ho-64 │ ├── BrysonHo64.m │ ├── BrysonHo64_output.m │ ├── BrysonHo64_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ └── BrysonHo64_solution.m │ ├── chemical-reactor │ ├── ChemicalReactor.m │ ├── ChemicalReactor_output.m │ ├── ChemicalReactor_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── container-crane │ ├── ContainerCrane.m │ ├── ContainerCrane_output.m │ ├── ContainerCrane_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── dynamic-soaring │ ├── DynamicSoaring.m │ ├── DynamicSoaring_output.m │ ├── DynamicSoaring_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── earth-launch │ ├── EarthLaunch.m │ ├── EarthLaunch_output.m │ ├── EarthLaunch_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── free-flying-robot │ ├── FreeFlyingRobot.m │ ├── FreeFlyingRobot_output.m │ ├── FreeFlyingRobot_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── hager-hou-rao-1 │ ├── HagerHouRao1.m │ ├── HagerHouRao1_output.m │ ├── HagerHouRao1_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── HagerHouRao1_F.m │ │ ├── HagerHouRao1_U.m │ │ ├── HagerHouRao1_Y.m │ │ └── HagerHouRao1_solution.m │ ├── hang-glider │ ├── HangGlider.m │ ├── HangGlider_output.m │ ├── HangGlider_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── hiv-immunology │ ├── HIVImmunology.m │ ├── HIVImmunology_output.m │ ├── HIVImmunology_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── hypersensitive │ ├── Hypersensitive.m │ ├── Hypersensitive_output.m │ ├── Hypersensitive_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── mine-extraction │ ├── MineExtraction.m │ ├── MineExtraction_output.m │ ├── MineExtraction_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── MineExtraction_F.m │ │ ├── MineExtraction_U.m │ │ ├── MineExtraction_Y.m │ │ └── MineExtraction_solution.m │ ├── mountain-car │ ├── MountainCar.m │ ├── MountainCar_output.m │ ├── MountainCar_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── multiextremal │ ├── Multiextremal.m │ ├── Multiextremal_output.m │ ├── Multiextremal_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── neuenhofen-kerrigan-x1 │ ├── NeuenhofenKerriganX1.m │ ├── NeuenhofenKerriganX1_output.m │ ├── NeuenhofenKerriganX1_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ └── NeuenhofenKerriganX1_solution.m │ ├── neuenhofen-kerrigan-x2 │ ├── NeuenhofenKerriganX2.m │ ├── NeuenhofenKerriganX2_output.m │ ├── NeuenhofenKerriganX2_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ └── NeuenhofenKerriganX2_solution.m │ ├── nonlinear-1d │ ├── Nonlinear1D.m │ ├── Nonlinear1D_output.m │ ├── Nonlinear1D_plot.m │ ├── README.md │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── Nonlinear1D_F.m │ │ ├── Nonlinear1D_U.m │ │ ├── Nonlinear1D_Y.m │ │ └── Nonlinear1D_solution.m │ ├── optimal-consumption │ ├── OptimalConsumption.m │ ├── OptimalConsumption_output.m │ ├── OptimalConsumption_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── optimal-production-maintenance │ ├── OptimalProductionMaintenance.m │ ├── OptimalProductionMaintenance_output.m │ ├── OptimalProductionMaintenance_plot.m │ ├── README.md │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── second-order-singular │ ├── README.md │ ├── SecondOrderSingular.m │ ├── SecondOrderSingular_output.m │ ├── SecondOrderSingular_plot.m │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── SecondOrderSingular_F.m │ │ ├── SecondOrderSingular_U.m │ │ ├── SecondOrderSingular_Y.m │ │ └── SecondOrderSingular_solution.m │ ├── semiconductor-laser │ ├── README.md │ ├── SemiconductorLaser.m │ ├── SemiconductorLaser_output.m │ ├── SemiconductorLaser_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── simple-co-design-transfer │ ├── README.md │ ├── SimpleCoDesignTransfer.m │ ├── SimpleCoDesignTransfer_output.m │ ├── SimpleCoDesignTransfer_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── simple-sasa │ ├── README.md │ ├── SimpleSASA.m │ ├── SimpleSASA_output.m │ ├── SimpleSASA_plot.m │ ├── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── solution │ │ ├── SimpleSASA_F.m │ │ ├── SimpleSASA_P.m │ │ ├── SimpleSASA_Ts.m │ │ ├── SimpleSASA_U.m │ │ ├── SimpleSASA_Y1.m │ │ ├── SimpleSASA_Y2.m │ │ └── SimpleSASA_solution.m │ ├── simple-suspension │ ├── IRI_737b.mat │ ├── README.md │ ├── SimpleSuspensionNested.m │ ├── SimpleSuspensionProblemParameters.m │ ├── SimpleSuspensionSimultaneous.m │ ├── SimpleSuspension_output.m │ ├── SimpleSuspension_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── space-shuttle-reentry │ ├── README.md │ ├── SpaceShuttleReentry.m │ ├── SpaceShuttleReentry_helper.m │ ├── SpaceShuttleReentry_output.m │ ├── SpaceShuttleReentry_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── time-energy-interceptor │ ├── README.md │ ├── TimeEnergyInterceptor.m │ ├── TimeEnergyInterceptor_output.m │ ├── TimeEnergyInterceptor_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── train │ ├── README.md │ ├── Train.m │ ├── Train_output.m │ ├── Train_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── transfer-max-radius │ ├── README.md │ ├── TransferMaxRadius.m │ ├── TransferMaxRadius_output.m │ ├── TransferMaxRadius_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── transfer-min-fuel │ ├── README.md │ ├── TransferMinFuel.m │ ├── TransferMinFuel_output.m │ ├── TransferMinFuel_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── transfer-min-time │ ├── README.md │ ├── TransferMinTime.m │ ├── TransferMinTime_output.m │ ├── TransferMinTime_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── tuberculosis │ ├── README.md │ ├── Tuberculosis.m │ ├── Tuberculosis_output.m │ ├── Tuberculosis_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── tumor │ ├── README.md │ ├── Tumor.m │ ├── Tumor_output.m │ ├── Tumor_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ ├── two-link-robot │ ├── README.md │ ├── TwoLinkRobot.m │ ├── TwoLinkRobot_output.m │ ├── TwoLinkRobot_plot.m │ └── assets │ │ ├── code.tex │ │ └── formulation.svg │ └── vanderpol │ ├── README.md │ ├── Vanderpol.m │ ├── Vanderpol_output.m │ ├── Vanderpol_plot.m │ └── assets │ ├── code.tex │ └── formulation.svg ├── include └── .gitignore ├── optional └── readme_image.svg ├── src ├── DTQP_create.m ├── DTQP_default_opts.m ├── DTQP_getQPIndex.m ├── DTQP_initialize.m ├── DTQP_multi_interval_pseudospectral.m ├── DTQP_multiphase.m ├── DTQP_reorder.m ├── DTQP_reshape_X.m ├── DTQP_scalingLinear.m ├── DTQP_scalingRows.m ├── DTQP_solve.m ├── add_constraints │ ├── DTQP_bnds.m │ ├── DTQP_boundary.m │ ├── DTQP_create_YZ.m │ ├── DTQP_create_bnds.m │ ├── DTQP_linkage.m │ └── DTQP_path.m ├── defects │ ├── DTQP_DEFECTS.m │ ├── DTQP_DEFECTS_EF.m │ ├── DTQP_DEFECTS_FO.m │ ├── DTQP_DEFECTS_HS.m │ ├── DTQP_DEFECTS_Huen.m │ ├── DTQP_DEFECTS_ModEF.m │ ├── DTQP_DEFECTS_PS.m │ ├── DTQP_DEFECTS_PS_nonlin.m │ ├── DTQP_DEFECTS_RK4.m │ ├── DTQP_DEFECTS_TR.m │ ├── DTQP_DEFECTS_TR_nonlin.m │ ├── DTQP_DEFECTS_ZO.m │ ├── DTQP_DEFECTS_index_columns.m │ └── expm │ │ ├── DTQP_DEFECTS_convolution_integral_type0.m │ │ ├── DTQP_DEFECTS_convolution_integral_type1.m │ │ └── DTQP_DEFECTS_expm.m ├── mesh │ ├── DTQP_MESH.m │ ├── DTQP_MESH_default_opts.m │ ├── DTQP_MESH_plotError.m │ ├── DTQP_MESH_plotStepsize.m │ ├── DTQP_MESH_pts.m │ ├── DTQP_MESH_richardson_doubling.m │ └── DTQP_MESH_ss_betts.m ├── nonlin │ ├── DTQP_NONLIN.m │ ├── DTQP_NONLIN_default_opts.m │ ├── DTQP_guess.m │ ├── derivatives │ │ ├── DTQP_hessian.m │ │ ├── DTQP_hessian_complex_step.m │ │ ├── DTQP_hessian_real_central.m │ │ ├── DTQP_hessian_real_forward.m │ │ ├── DTQP_jacobian.m │ │ ├── DTQP_jacobian_complex_step.m │ │ ├── DTQP_jacobian_real_central.m │ │ └── DTQP_jacobian_real_forward.m │ ├── nlp │ │ ├── DTQP_NLP.m │ │ ├── DTQP_NLP_additional_constraints.m │ │ ├── DTQP_NLP_constraints.m │ │ ├── DTQP_NLP_hessian.m │ │ ├── DTQP_NLP_objective.m │ │ ├── DTQP_NLP_parse_additional_constraints.m │ │ ├── DTQP_NLP_parse_dynamics.m │ │ ├── DTQP_NLP_parse_objective.m │ │ └── DTQP_NLP_symb.m │ └── qlin │ │ ├── DTQP_QLIN.m │ │ ├── DTQP_QLIN_guess.m │ │ ├── DTQP_QLIN_improve_initial_point.m │ │ ├── DTQP_QLIN_initialize.m │ │ ├── DTQP_QLIN_plots.m │ │ ├── DTQP_QLIN_sqp_matrix.m │ │ ├── DTQP_QLIN_symb.m │ │ ├── DTQP_QLIN_update_control_constraint.m │ │ ├── DTQP_QLIN_update_dynamics.m │ │ ├── DTQP_QLIN_update_lagrange.m │ │ ├── DTQP_QLIN_update_state_constraint.m │ │ ├── DTQP_QLIN_update_tmatrix.m │ │ ├── DTQP_SQP_lagrangian_penalty_matrix.m │ │ └── DTQP_SQP_trust_region.m ├── objective │ ├── DTQP_L.m │ ├── DTQP_M.m │ ├── DTQP_createH.m │ ├── DTQP_createc.m │ └── DTQP_createf.m ├── solver │ ├── DTQP_SOLVER.m │ ├── DTQP_SOLVER_cvx.m │ ├── DTQP_SOLVER_default_opts.m │ ├── DTQP_SOLVER_ipfmincon.m │ ├── DTQP_SOLVER_osqp.m │ ├── DTQP_SOLVER_qpoases.m │ └── DTQP_SOLVER_quadprog.m └── utilities │ ├── DTQP_checkCellNumeric.m │ ├── DTQP_commandWindowTasks.m │ ├── DTQP_plotCommon.m │ ├── DTQP_tmatrix.m │ └── DTQP_tmultiprod.m └── tests ├── DTQP_TEST_FO.m ├── DTQP_TEST_NLP_symb.m ├── DTQP_TEST_SQP_lagrangianPenaltyMatrix.m ├── 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