control-toolbox / control-toolbox/CTParser.jl
[Dev] Constrain endpoint controls
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internal dev
- Dominant language
- Julia
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Description
to avoid singularities (check num scheme for dynamics)
- for euler + midpoint add constraint uN = uN-1 (as uN is possibly free)
- for euler_n add constraint u0 = u1 (as u0 is possibly free)
NB. nothing to do for trapeze
check https://github.com/control-toolbox/CTParser.jl/pull/94#issuecomment-3330422194
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