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Title: Add collocation method for optimal control problems by murrayrm · Pull Request #799 · python-control/python-control · GitHub

Open Graph Title: Add collocation method for optimal control problems by murrayrm · Pull Request #799 · python-control/python-control

X Title: Add collocation method for optimal control problems by murrayrm · Pull Request #799 · python-control/python-control

Description: This PR changes the default way that optimal control problems are solved from using a shooting method to using collocation. This results in more robust (and faster) solutions, especially for traje...

Open Graph Description: This PR changes the default way that optimal control problems are solved from using a shooting method to using collocation. This results in more robust (and faster) solutions, especially for traje...

X Description: This PR changes the default way that optimal control problems are solved from using a shooting method to using collocation. This results in more robust (and faster) solutions, especially for traje...

Opengraph URL: https://github.com/python-control/python-control/pull/799

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add trajectory_method='shooting'https://github.com/python-control/python-control/pull/799/commits/d9ec3ec5bb4d3963bd8b6c502ce36baed7cd1760
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add trajectory_method='collocation'https://github.com/python-control/python-control/pull/799/commits/ce5e67ac10c9363fb8674258dddc2c9120f17fed
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set default trajectory_methood for ctime systems to collocationhttps://github.com/python-control/python-control/pull/799/commits/8256fa05eca508aa75b346c7bb53b91472549c3c
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add benchmarks for shooting vs collocationhttps://github.com/python-control/python-control/pull/799/commits/dd5e42d16e81e5a1e30899f8bf277ee85282bf91
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