In the language of optimal control theory, this problem is a “continuous system with functions of the state variables prescribed at a fixed terminal time”. The numerical example given in the text is a continuous, low-thrust coplanar orbit transfer from Earth to Mars. The orbits of the planets are assumed to be circular and coplanar, and the total transfer time is about 193 days.
Added main script (dto_trap_64bit.m) that uses the March 17, 2014 version of SNOPT.
Spelling correction of the title
Updated PDF document and several m-files. Now includes graphic display of the heliocentric planet orbits and transfer trajectory. PDF document includes new dimensional analysis section, trajectory diagram, etc.