This is the PSOPT library, a software tool for computational optimal control Copyright (C) 2009-2020 Victor M. Becerra This library is free software; you can redistribute it and/or modify it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; either version 2.1 of the License, or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA, or visit http://www.gnu.org/licenses/ Author: Professor Victor M. Becerra Address: University of Portsmouth School of Energy and Electronic Engineering Portsmouth PO1 3DJ United Kingdom e-mail: v.m.becerra@ieee.org