#************************************************************* # Test Problem 1 from Chapter 11, section 4.2 # Simple Optimal Control Problem #************************************************************* OPTION {{ FTOL = 1e-8; OTOL = 1e-8; NLP = "SNOPT"; RANDOMX; }} DECLARATION {{ XVAR {zf, # Final Time Value of the state u # Control Variable }; ZVAR {z}; ISPE {z}; STP z = 9; TIME {0,1}; # Variable Bounds LBDS u = -5; UBDS u = 5; LBDS zf = -12; UBDS zf = 9; }} MODEL {{ MIN: -zf^2; dae1: z' =e= -z^2 + u; endtime[1]: zf - z =e= 0; }}