PSOPT is able to deal with optimal control problems with the following characteristics:

  • Single or multiphase problems

  • Continuous time nonlinear dynamics

  • Nonlinear path constraints

  • General event constraints

  • Integral constraints

  • Interior point constraints

  • Bounds on controls and state variables

  • General cost function with Lagrange and Mayer terms.

  • Linear or nonlinear linkages between phases

  • Fixed or free initial phase time

  • Fixed or free final phase time

  • Optimization of static parameters

  • Optimal parameter estimation given sampled observations