GPOPS− II:一款求解最优控制问题的软件手册（内含源代码，基于变阶自适应正交配点方法编写的）-GPOPS− II:A users guide for solving optimal control problems(containing source codes,variable-order adaptive orthogonal collocation methods )

Gauss pseudospectral method

使用GPOPS-II进行轨迹优化，用于两阶段步行和跑步步态，用于简单的步行模型(Trajectory optimization using GPOPS-II for two-stage walking and running gait for simple walking models)

最优控制，伪谱法的原代码，经典之作。利用hp自适应高斯积分法求解多相最优控制问题的MATLAB软件。(optimal control, pseudospectral. A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming)