“…4), Runge-Kutta (Kameswaran & Biegler, 2008;Schwartz & Polak, 1996), and Pseudospectral (Gong, Kang, & Ross, 2006;Kang, 2010;Ross & Karpenko, 2012). These computational optimal control methods have achieved great success in many areas of control applications (Bedrossian, Bhatt, Kang, & Ross, 2009;Bedrossian, Karpenko, & Bhatt, 2012;Chung, Polak, Royset, & Sastry, 2011;Li, Ruths, Yu, & Arthanari, 2011). In a standard nonlinear optimal control problem, the objective functional is of the Bolza type, which consists of an end cost as well as an integral over the time domain.…”