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26 Feb 2013 (Updated )

Optragen is a parser which translates optimal control problems to nonlinear programming problems.

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This toolbox is similar to existing toolboxes such as PROPT, DIDO, GPOPS, etc. This toolbox uses splines to parameterize trajectories and determines approximate solutions to ODES using Galerkin projection. The software is provided free. The only limitations are those imposed by the NLP solver.

Current implementation requires SNOPT. You can get free version of SNOPT from Free version of SNOPT limits NLPs to 300 variables.

There is also a SourceForge page ( in case users want to contribute to the development of this software. It is possible to extend this to include collocation techniques as well and interface it to other NLP solvers, including MATLAB's own fmincon.

If you make changes and want to share it with the rest, please send me an email and I will include you as a coauthor and upload the revised version to this site.

Required Products Spline Toolbox
Symbolic Math Toolbox
MATLAB release MATLAB 7.12 (R2011a)
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27 Feb 2013 1.1

Removed .git subdirectory.

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