PSOPT是以C++编写的开源的最优控制软件包,它采用直接配置法。这些方法求解最优控制问题，是使用全局或局部多项式来逼近随时间变化的各种变量，这就可以将微分方程和连续约束离散化，并可用众所周知的数值求积公式来计算与最优控制问题有关的任何积分，然后，非线性规划就可被用于求解局部最优解。-PSOPT is an open source optimal control package written in C++ that uses

direct collocation methods. These methods solve optimal control problems

by approximating the time-dependent variables using global or local polynomials.

This allows to discretize the differential equations and continuous constraints

and to compute any integrals associated with the problem using well known quadrature formulas. Nonlinear programming then is used to find local optimal solutions.