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Rao, A.V., Benson, D.A., Darby, C., Patterson, M.A., Francolin, C., Sanders, I., et al. (2010) Algorithm 902: Gpops, a Matlab Software for Solving Multiple-Phase Optimal Control Problems Using the Gauss Pseudospectral Method. ACM Transactions on Mathematical Software, 37, 1-39.
https://doi.org/10.1145/1731022.1731032

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