Modified Radau Collocation method for Solving Optimal Control Problems with Nonsmooth Solutions Part I: Lavrentiev Phenomenon and the Search Space. - Joseph D. Eide; William W. Hager; Anil V. Rao (CDC, 2018)

Modified Radau Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions Part II: Costate Estimation and the Transformed Adjoint System. - Joseph D. Eide; William W. Hager; Anil V. Rao (CDC, 2018)

Modified Legendre-Gauss-Radau Collocation Method for Optimal Control Problems with Nonsmooth Solutions. - Joseph D. Eide; William W. Hager; Anil V. Rao (J. Optim. Theory Appl., 2021)