Active Set Strategy for Constrained Optimal Control Problems

0
0
!0.002
!0.2
!0.004
!0.006
!0.4
!0.008
!0.01
!0.6
!0.012
!0.014
!0.8
!0.016
!0.018
1
!1
1
0.8
0.8
1
0.6
1
0.6
0.8
0.6
0.4
0.4
0.2
0.8
0.4
0.2
0.2
0
0.6
0.4
0.2
0
0
0.03
1
0.02
0.5
0.01
0
0
0
!0.5
!0.01
!1
!0.02
!1.5
!0.03
!0.04
1
!2
1
0.8
0.8
1
0.6
1
0.6
0.8
0.6
0.4
0.4
0.2
0.8
0.4
0.2
0.2
0
0.6
0.4
0.2
0
0
0.1
10
0.05
5
0
0
-0.05
-5
-0.1
0
1
0.2
0.8
0.4
0.6
0.6
0.4
0.8
0.2
1
0
0
-10
0
1
0.2
0.8
0.4
0.6
0.6
0.4
0.8
0.2
1
0
80
250
BIK
70
200
60
IP-2
50
150
IP-1
40
100
30
20
50
BIK
10
0
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
-10
-9
-8
-7
-6
-5
-4
-3
-2
-1
0
0
10
10
!2
10
!4
!5
10
10
!6
10
!8
!10
10
10
!10
10
!12
!15
10
0
5
10
15
20
10
0
2
4
6
8
10
12
14