Geodesic
Evolution of structure for direct control optimization
Discussiones Mathematicae. Differential Inclusions, Control and Optimization, Tome 27 (2007) no. 1, pp. 165-193.

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The paper presents the Monotone Structural Evolution, a direct computational method of optimal control. Its distinctive feature is that the decision space undergoes gradual evolution in the course of optimization, with changing the control parameterization and the number of decision variables. These structural changes are based on an analysis of discrepancy between the current approximation of an optimal solution and the Maximum Principle conditions. Two particular implementations, with spike and flat generations are described in detail and illustrated with computational examples.
Keywords: optimal control, direct optimization methods 
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Szymkat, Maciej; Korytowski, Adam. Evolution of structure for direct control optimization. Discussiones Mathematicae. Differential Inclusions, Control and Optimization, Tome 27 (2007) no. 1, pp. 165-193. http://geodesic.mathdoc.fr/item/DMDICO_2007_27_1_a9/

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