## Examples

The following examples have already been implemented in ICLOCS2 for you. Use the link below to check the details and feel free to use them as a starting point to formulate your own optimal control problem.

Example Problem |
Implementation Difficulty |
Solver Difficulty |
Dynamics |
Path Constraints |
Rate Constraints |
Boundary Constraints |
Singular Arc |
Using Analytic Derivatives |
Detailed Instructions |
Additional Function Demo |
---|---|---|---|---|---|---|---|---|---|---|

Bang-bang Control | Easy | Easy | Linear | No | No | No | No | Yes | Yes | Flexible hp-adaptive mesh |

Double Integrator Tracking | Easy | Easy | Linear | No | No | No | No | No | Yes | - |

Hypersensitive Control | Easy | Medium | Simple Nonlinear | No | No | No | No | No | Yes | Mesh Refinement |

Aly Chan Problem | Easy | Hard | Simple Nonlinear | No | No | No | Yes | No | No | Residual Minimization |

Van der Pal Oscillator | Easy | Hard | Simple Nonlinear | No | No | No | Yes | No | No | Residual Minimization |

Second Order Singular Control Problem | Easy | Medium | Simple Nonlinear | No | Yes | No | Can Mitigate | No | No | "on-mesh" Rate Constraint |

Two-link Robot Arm Problem | Easy | Easy | Nonlinear | No | No | No | No | No | Yes | - |

Cart Pole Swing-Up Problem | Easy | Easy | Nonlinear | No | No | No | No | Yes | No | Closed-loop Simulation |

Batch Fermentor Reactor Problem | Easy | Hard | Nonlinear | No | No | No | Yes | Yes | Yes | - |

Control of a Spaceship Problem | Intermediate | Medium | Nonlinear | No | No | No | No | No | No | - |

Aircraft Minimum Fuel/Time Climb | Intermediate | Medium | Nonlinear | No | No | No | No | No | Yes | Look-up Tables/CL Simulation |

Goddard Rocket (Single Phase) | Intermediate | Hard | Nonlinear | No | No | No | Yes | No | No | Residual Minimization |

Orbit Raising Problem | Intermediate | Medium /Easy | Nonlinear | Yes | No | Yes | No | No/Yes | Yes | Alternative Formulation |

Space Shuttle Reentry Trajectory | Hard | Medium | Nonlinear | No | No | No | No | No | Yes | - |

Aircraft Go-around in Windshear | Hard | Medium | Nonlinear | Yes | Yes | No | Can Mitigate | No | Yes | "on-mesh" Rate Constraint |

Vehicle Parallel Parking Problem | Hard | Hard | Nonlinear | Yes | Yes | Yes | Yes | No | Yes | Automatic Regularization |

Commercial Aircraft Flight Profile | Hard | Hard | Nonlinear | Yes | Yes | Yes | No | No | Yes | External Constraint Handling |

Low-Thrust Orbit Transfer Problem | Hard | Hard | Nonlinear | Yes | No | Yes | No | No | No | - |

Bang-bang Control (Multi-Phase) | Intermediate | Easy | Linear | No | No | Yes | No | No | Yes | Multi-phase Formulation |

Goddard Rocket (Multi-Phase) | Hard | Medium | Nonlinear | Yes | No | Yes | No | No | Yes | Singular arc condition |