1. PSOPT Optimal Control Solver User Manual Release 2;Becerra,2010
2. Issues in the direct transcription of optimal control problems to sparse nonlinear programs;Betts,1994
3. Practical Methods for Optimal Control and Estimation Using Nonlinear Programming;Betts,2010
4. Compensating for order variation in mesh refinement for direct transcription methods II: computational experience;Betts;J. Comput. Appl. Math.,2002
5. Direct transcription solution of inequality constrained optimal control problems;Betts,2004