Algorithm 902: GPOPS, A MATLAB software for solving multiple-phase optimal control problems using the gauss pseudospectral method. - Anil V. Rao; David A. Benson; Christopher Darby; Michael A. Patterson; Camila Francolin; Ilyssa Sanders; Geoffrey T. Huntington (ACM Trans. Math. Softw., 2010)

Direct trajectory optimization and costate estimation of finite-horizon and infinite-horizon optimal control problems using a Radau pseudospectral method. - Divya Garg; Michael A. Patterson; Camila Francolin; Christopher Darby; Geoffrey T. Huntington; William W. Hager; Anil V. Rao (Comput. Optim. Appl., 2011)

Corrigendum: Algorithm 902: GPOPS, a MATLAB software for solving multiple-phase optimal control problems using the gauss pseudospectral method. - Anil V. Rao; David A. Benson; Christopher Darby; Michael A. Patterson; Camila Francolin; Ilyssa Sanders; Geoffrey T. Huntington (ACM Trans. Math. Softw., 2011)