### 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.

### A Linear Problem With Bang Bang Control

Simple linear problem.

### 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.

### Nondifferentiable system

Example of a nondifferentiable system.

• Nondifferentiable system: Showing how to model a nondifferentiable system with the casadi function if_else.