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Dynamic optimization with path constraints

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Figure

Figure 1-1: Dynamic  Optimization Example
Figure 2-1:  The control parameterization algorithm
Figure 2-2: Example of ABACUSS input file for  constrained dynamic optimization the  second  and  third  define  the  lower  and  upper  bounds  for  the  variable,   re-spectively.
Figure 3-2:  Controlled and autonomous transitions
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