Section STEUERUNG

In this section the control discretization grid points and also estimated values of the control variables at the grid points have to be provided.

The grid points of the control discretization grid can be selected by absolute or normalized values in the same manner as described for the multiple shooting nodes in the section above.

T = absolute value of the control discretization grid point

or

TAU = normalized value of the control discretization grid point

Each grid point of the control discretization has to be accompanied by a list of estimated values of the control variables at the grid point

U( 1) = estimated value of

U(NU) = estimated value of

Remarks:

• The multiple shooting grid and the control discretization grid can be selected independently.
• Please note that the first and last control discretization grid points always have to be equal to initial and final time.
• If the functions of the right hand side of the differential-algebraic equations are only piecewise differentiable we recommend to place a control grid point at such a matching point of the model functions.