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4  Multi-phase optimal control

brysonDenhamTwoPhase.m is a good example for multi-phase optimal control. The user simply have to link the states to complete the problem formulation.

 link = {final(p1,x1p1) == initial(p2,x1p2)
         final(p1,x2p1) == initial(p2,x2p2)};

It is important to keep in mind that the costs have to be individually defined for the phases in the case that a integrating function is used.

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