### Bryson-Denham problem

The Bryson-Denham problem is a classical minimum energy optimal control problem.

- Bryson-Denham: This example is a good starting point for the Yop toolbox.

### Goddard rocket

The Goddard rocket problem is an optimal control problem where the goal is to maximize the altitude of a vertically launched rocket.

- Basic rocket: Basic example of the Goddard rocket.
- Goddard rocket final time free: The Goddard rocket with a free final time.
- Goddard rocket final time fixed: The same model as in the example with free final time but this time with a fixed final time.
- Goddard rocket landing: A multi-phase problem to land the Goddard rocket.

### A Linear Problem With Bang Bang Control

Simple linear problem.

- Linear problem with bang-bang control: Shows an alternative way of setting a model to the
`YopSystem`

.

### Greenhouse Climate Control

Controlling the temperature in a greenhouse to maximize yield. This problem introduces external input.

- Greenhouse: Optimal control problem with external input using
`YopInterpolant`

.

### Isoperimetric Constraint Problem

Example showing how to implement isoperimetric constraints.

- Isoperimetric constraint problem: Simple example with isoperimetric constraint.

### Nondifferentiable system

Example of a nondifferentiable system.

- Nondifferentiable system: Showing how to model a nondifferentiable system with the casadi function
`if_else`

.