Some Technical Papers on DMOC

• Original papers on the topic with Sina Ober-Blöbaum and Oliver Junge: First Paper 2005; Second Paper 2006
  
  
• Thesis of Sina Ober-Blöbaum (convergence proofs, more examples, etc); click here for the corresponding paper.
  
  
• Paper on Merging DMOC with Systems with Constraints (Submitted paper on optimal control of mechanical systems with holonomic constraints, handled by the discrete null space method)
  

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