Joseph D. Eide, William W. Hager, Anil V. Rao. Modified Radau Collocation Method for Solving Optimal Control Problems with Nonsmooth Solutions Part II: Costate Estimation and the Transformed Adjoint System. In 57th IEEE Conference on Decision and Control, CDC 2018, Miami, FL, USA, December 17-19, 2018. pages 1651-1656, IEEE, 2018. [doi]
Abstract is missing.