Ross, I. M.; Proulx, R. J.; Karpenko, M. An Optimal Control Theory for the Traveling Salesman Problem and Its Variants. 2020-05-06. arXiv:2005.03186 [math.OC].
Hargraves, C. R.; Paris, S. W. Direct Trajectory Optimization Using Nonlinear Programming and Collocation. Journal of Guidance, Control, and Dynamics. 1987, 10 (4): 338–342. Bibcode:1987JGCD...10..338H. doi:10.2514/3.20223.
FALCON.m (页面存档备份,存于互联网档案馆), 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. Direct Trajectory Optimization Using Nonlinear Programming and Collocation. Journal of Guidance, Control, and Dynamics. 1987, 10 (4): 338–342. Bibcode:1987JGCD...10..338H. doi:10.2514/3.20223.
RIOTS互联网档案馆的存檔,存档日期16 July 2011., based on Schwartz, Adam. Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (学位论文). University of California at Berkeley. 1996. OCLC 35140322.
GPOPS互联网档案馆的存檔,存档日期24 July 2011., 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.
RIOTS互联网档案馆的存檔,存档日期16 July 2011., based on Schwartz, Adam. Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (学位论文). University of California at Berkeley. 1996. OCLC 35140322.
FALCON.m (页面存档备份,存于互联网档案馆), 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
GPOPS互联网档案馆的存檔,存档日期24 July 2011., 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. A primer on Pontryagin's principle in optimal control. San Francisco: Collegiate Publishers. 2015. ISBN 978-0-9843571-0-9. OCLC 625106088.
RIOTS互联网档案馆的存檔,存档日期16 July 2011., based on Schwartz, Adam. Theory and Implementation of Methods based on Runge–Kutta Integration for Solving Optimal Control Problems (学位论文). University of California at Berkeley. 1996. OCLC 35140322.