Treffer: Nonlinear Optimal Control Analysis Using State-Dependent Matrix Exponential and Its Integrals.

The article focuses on a method of accurately estimating the Karush-Kuhn-Tucker (KKT) system, which has been developed using the state-dependent matrix exponential and its weighted integrals. It notes that the direct multiple-shooting (DMS) method is preferred for analyzing general nonlinear optimal control problems due to its convenience in handling system constraints. It cites that the method yields better numerical accuracy compared to conventional methods. It suggests that the approach can contribute to the robustness enhancement of the DMS method.