TOMP - FORTRAN MODULES FOR OPTIMAL-CONTROL CALCULATIONS

A great number of analysis and synthesis problems of modern processes can be written as state and control constrained optimal control proble ms governed by ordinary differential equations with multipoint boundar y values. As the software tools for following this attractive approach are still missing or can be used only by experts, the structure and u sage of an easy-to-use software package is described which efficiently solves the given problem. Among its features are user-orientation, ap plicability on personal computers and mainframes, and robustness with respect to model changes and inaccurate starting values. It has been t ested on a number of complex engineering tasks, including aerospace an d robotic trajectory planning.