最优控制算法案例的Matlab完整详解，将自由时间问题转化为状态量方程，并利用bvp4c函数解决最小时间优化问题、终端约束问题，非常有参考价值！-The optimal control algorithm Matlab complete example of the case, the free time problem into the state of the equation, and the use of bvp4c function to solve the minimum time optimization problems, terminal constraints, very valuable!