Code covered by the BSD License  

Highlights from
Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription

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from Simultaneous Plant and Control Design of an Active Automotive Suspension Using Direct Transcription by James Allison
A toolbox for using Direct Transcription to perform combined plant and control design.

calc_zdot(x, z, v) 
function out = calc_zdot(x, z, v)
% Calculate dz/dt from z-t data.
n = length(x);
t = zeros(length(x),1);
zdot = zeros(length(x)-1, 1);
for i=2:n
    dist = sqrt((z(i) - z(i-1))^2 + (x(i)-x(i-1))^2);
    t(i) = t(i-1) + dist/v;
    zdot(i-1) = (z(i) - z(i-1))/(t(i) - t(i-1));
end

out = struct('t', t, 'u', zdot);

end

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