OPTIMAL-CONTROL COMPUTATION TO ACCOUNT FOR ECCENTRIC MOVEMENT

A class of optimal control models which involve different weightings i n the integrand of the objective function is considered. The motivatio n for considering this class of problems is that this type of objectiv e function is used to account for eccentric movement in biomechanical models. The computation of these optimal control problems using contro l parameterization directly is difficult, firstly because of ill-condi tioning, and secondly because the objective function is not differenti able. A method for smoothing the integrand is presented with convergen ce results. An example is computed which shows favourable computationa l improvements.