Subchan Subchan & Rafal Zbikowski 
Computational Optimal Control [PDF ebook] 
Tools and Practice

Preface
Acknowledgements
Nomenclature
1 Introduction
1.1 Historical Context of Computational Optimal Control
1.2 Problem Formulation
1.3 Outline of the Book
2 Optimal Control: Outline of the Theory and
Computation
2.1 Optimisation: From Finite to Infinite Dimension
2.2 The Optimal Control Problem
2.3 Variational Approach to Problem Solution
2.4 Nonlinear Programming Approach to Solution
2.5 Numerical Solution of the Optimal Control Problem.
2.6 Summary and Discussion
3 Minimum Altitude Formulation
3.1 Minimum Altitude Problem
3.2 Qualitative Analysis
3.3 Mathematical Analysis
3.4 Indirect Method Solution
3.5 Summary and Discussion
4 Minimum Time Formulation
4.1 Minimum Time Problem
4.2 Qualitative Analysis
4.3 Mathematical Analysis
4.4 Indirect Method Solutions
4.5 Summary and Discussion
5 Software Implementation
5.1 DIRCOL implementation
5.2 NUDOCCCS Implementation
5.3 GESOP (PROMIS/SOCS) Implementation
5.4 BNDSCO Implementation
5.5 User Experience
6 Conclusions and Recommendations
6.1 Three-stage Manual Hybrid Approach
6.2 Generating an Initial Guess: Homotopy
6.3 Pure State Constraint and Multi-objective Formulation
6.4 Final Remarks
Appendix BNDSCO Benchmark Example
A.1 Analytic Solution
A.1.1 Unconstrained or Free Arc (l >=1/4)
A.1.2 Touch Point Case (1/6

Dr S Subchan, Cranfield University, UK
Dr Subchan is a research officer in the Department of Aerospace, Power and Sensors at Cranfield University’s Shrivenham campus. He studied for his Ph D at Cranfield in 2005, having previously worked for 3 years for Indonesian Aircraft Industries at Bandung on computational fluid dynamics.
Dr Rafal Zbikowski, Cranfield University, UK
Dr Zbikowski is Reader in Control Engineering and is a Principal Research Officer in the Guidance and Control Group of the Department of Aerospace, Power and Sensors at Cranfield University’s Shrivenham campus. Prior to this he was a Post-Doctoral Research Fellow at Glasgow University leading the Glasgow side of a joint project with Daimler-Benz on neural adaptive control technology for Mercedes products. Dr Zbikowski has published over fifty papers on adaptive and nonlinear aspects of intelligent control, and flapping wing micro air vehicles. A control engineer with a strong mathematical background, he is a member of the American Mathematical Society (AMS) and the Institute of Electrical and Electronics Engineers (IEEE). Since 1998 he has been instrumental in obtaining UK funding for four substantial projects in the area of guidance and control.