Ross, I. M.; Proulx, R. J.; Karpenko, M. (6 May 2020). "An Optimal Control Theory for the Traveling Salesman Problem and Its Variants". arXiv:2005.03186 [math.OC].
Hargraves, C. R.; Paris, S. W. (1987). "Direct Trajectory Optimization Using Nonlinear Programming and Collocation". Journal of Guidance, Control, and Dynamics. 10 (4): 338–342. Bibcode:1987JGCD...10..338H. doi:10.2514/3.20223.
FALCON.m, described in Rieck, M., Bittner, M., Grüter, B., Diepolder, J., and Piprek, P., FALCON.m - User Guide, Institute of Flight System Dynamics, Technical University of Munich, October 2019
Hargraves, C. R.; Paris, S. W. (1987). "Direct Trajectory Optimization Using Nonlinear Programming and Collocation". Journal of Guidance, Control, and Dynamics. 10 (4): 338–342. Bibcode:1987JGCD...10..338H. doi:10.2514/3.20223.
RIOTSArchived 16 July 2011 at the Wayback Machine, based on Schwartz, Adam (1996). Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (Ph.D.). University of California at Berkeley. OCLC35140322.
GPOPSArchived 24 July 2011 at the Wayback Machine, described in Rao, A. V., Benson, D. A., Huntington, G. T., Francolin, C., Darby, C. L., and Patterson, M. A., User's Manual for GPOPS: A MATLAB Package for Dynamic Optimization Using the Gauss Pseudospectral Method, University of Florida Report, August 2008.
RIOTSArchived 16 July 2011 at the Wayback Machine, based on Schwartz, Adam (1996). Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (Ph.D.). University of California at Berkeley. OCLC35140322.
GPOPSArchived 24 July 2011 at the Wayback Machine, described in Rao, A. V., Benson, D. A., Huntington, G. T., Francolin, C., Darby, C. L., and Patterson, M. A., User's Manual for GPOPS: A MATLAB Package for Dynamic Optimization Using the Gauss Pseudospectral Method, University of Florida Report, August 2008.
Ross, Isaac (2015). A primer on Pontryagin's principle in optimal control. San Francisco: Collegiate Publishers. ISBN978-0-9843571-0-9. OCLC625106088.
Kamien, Morton I. (2013). Dynamic Optimization: the Calculus of Variations and Optimal Control in Economics and Management. Dover Publications. ISBN978-1-306-39299-0. OCLC869522905.
RIOTSArchived 16 July 2011 at the Wayback Machine, based on Schwartz, Adam (1996). Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (Ph.D.). University of California at Berkeley. OCLC35140322.