Rationalized Haar approach for nonlinear constrained optimal control problems

This paper presents a numerical method for solving nonlinear optimal control problems including state and control inequality constraints. The method is based upon rationalized Haar functions. The differential and integral expressions which arise in the system dynamics, the performance index and the boundary conditions are converted into some algebraic equations which can be solved for the unknown coefficients. Illustrative examples are included to demonstrate the validity and applicability of the technique.