Two Numerical Methods For Nonlinear Constrained Quadratic Optimal Control Problems Using Linear Bspline Functions

This paper presents two numerical methods for solving the nonlinear constrained optimal control problems including quadratic performance index. the methods are based upon linear bspline functions. the properties of bspline functions are presented. two operational matrices of integration are introduced for related procedures. these matrices are then utilized to reduce the solution of the nonlinear constrained optimal control to a nonlinear programming one to which existing welldeveloped algorithms may be applied. illustrative examples are included to demonstrate the validity and applicability of the presented techniques.