GPOPS工具箱5.1

--------------------------------- README File for Automatic Differentiation --------------------------------- AD Copyright (c) 2009 Ilyssa Sanders and Anil V. Rao. All Rights Reserved The code "AD" was written in order to support the Gauss Pseudospectral Optimal Control Program (GPOPS) project. GPOPS solves multiple-phase optimal control problems using the Gauss Pseudospectral Method. The AD code was written in 2009 by Ilyssa Sanders and Anil V. Rao of The University of Florida. Currently, AD implements the forward mode for automatic differentiation of first derivatives on a reasonable number of commonly used functions in MATLAB. The plans are to implement as many MATLAB functions as possible and to include the ability to compute second derivatives.