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Contents

• TOMLAB /SOCS Manual
• Contents
• 1  Introduction to TOMLAB /SOCS
  • 1.1  Overview
  • 1.2  Contents of this manual
  • 1.3  More information
  • 1.4  Prerequisites
• 2  Optimal Control Background
  • 2.1  Problem Definition
• 3  Setting up a problem
  • 3.1  Problem definition used by TOMLAB /SOCS
  • 3.2  Variable initial and final time
  • 3.3  Problem structure
    • 3.3.1  problem.costfun_endpoint
    • 3.3.2  problem.costfun_integrand
    • 3.3.3  problem.odefun
    • 3.3.4  problem.eventfun
    • 3.3.5  problem.pathfun
    • 3.3.6  problem.pathfun_auxiliary
    • 3.3.7  problem.phases
    • 3.3.8  problem.phases.nodes
    • 3.3.9  problem.phases.lower
    • 3.3.10  problem.phases.lower.time
    • 3.3.11  problem.phases.lower.states
    • 3.3.12  problem.phases.lower.controls
    • 3.3.13  problem.phases.lower.parameters
    • 3.3.14  problem.phases.lower.events
    • 3.3.15  problem.phases.lower.path
    • 3.3.16  problem.phases.lower.phaselength
    • 3.3.17  problem.phases.upper
    • 3.3.18  problem.phases.A
    • 3.3.19  problem.phases.nBterms and problem.phases.B
    • 3.3.20  problem.phases.C_I and problem.phases.C_F
    • 3.3.21  problem.phases.D_I and problem.phases.D_F
    • 3.3.22  problem.phases.cost_pattern
    • 3.3.23  problem.phases.event_pattern
    • 3.3.24  problem.phases.path_pattern
    • 3.3.25  problem.phases.scaling
    • 3.3.26  problem.guess
    • 3.3.27  problem.guess.time
    • 3.3.28  problem.guess.states
    • 3.3.29  problem.guess.controls
    • 3.3.30  problem.guess.parameters
    • 3.3.31  problem.links
    • 3.3.32  problem.options
    • 3.3.33  problem.options.OC
    • 3.3.34  problem.options.NLP
    • 3.3.35  problem.options.PrintFile
    • 3.3.36  problem.options.PrintFlag
    • 3.3.37  problem.options.ErrorFile
    • 3.3.38  problem.options.ErrorPrintFlag
    • 3.3.39  problem.options.method and problem.options.nstg
    • 3.3.40  problem.user
  • 3.4  Callback functions
    • 3.4.1  Patterns
    • 3.4.2  costfun_endpoint
    • 3.4.3  costfun_integrand
    • 3.4.4  odefun
    • 3.4.5  eventfun
    • 3.4.6  pathfun
    • 3.4.7  pathfun_auxiliary
• 4  Setting solver options
  • 4.1  Optimal control (OC) options
  • 4.2  Non-linear programming (NLP) options
• 5  Solving a problem
  • 5.1  solveSocsProblem.m
  • 5.2  Solution structure
    • 5.2.1  solution.inform
    • 5.2.2  solution.exittext
    • 5.2.3  solution.raw
    • 5.2.4  solution.raw.cstat
    • 5.2.5  solution.raw.ipcph
    • 5.2.6  solution.raw.dparm
    • 5.2.7  solution.raw.ipdph
    • 5.2.8  solution.raw.dims
    • 5.2.9  solution.CPUtime
    • 5.2.10  solution.phases
    • 5.2.11  solution.phases.states
    • 5.2.12  solution.phases.controls
    • 5.2.13  solution.phases.parameters
    • 5.2.14  solution.phases.initial_time
    • 5.2.15  solution.phases.final_time
  • 5.3  Evaluating state and control variables
    • 5.3.1  evalSocsSolution.m
• 6  Print file and error file
  • 6.1  Turning off all output
• 7  Error messages
  • 7.1  Optimal Control error messages
  • 7.2  Nonlinear Programming error messages
• References

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