GPOPS-II: MATLAB Optimal Control Software

GPOPS-II is the next-generation of general purpose optimal control software. GPOPS-II is a new MATLAB software intended to solve general nonlinear optimal control problems (that is, problems where it is desired to optimize systems defined by differential-algebraic equations). GPOPS-II implements the new class of variable-order Gaussian quadrature methods. Using GPOPS-II, the continuous-time optimal control problem is transcribed to a nonlinear programming problem (NLP). The NLP is then solved using either the NLP solver SNOPT or the NLP solver IPOPT. GPOPS-II represents a major advancement in the numerical solution of optimal control problems. GPOPS-II is available at NO CHARGE TO MEMBERS OF THE UNIVERSITY OF FLORIDA OR ANY STATE OF FLORIDA INSTITUTION. All others are required to pay a licensing fee for using GPOPS-II. Licenses of GPOPS-II can be purchased by clicking here.

Features of GPOPS-II

The following are some the key features of GPOPS-II:

  • Allows for an extremely general formulation of the optimal control problem.
  • Allows for inclusion of integral constraints and highly general boundary conditions.
  • Complete first and second sparse finite-differencing of optimal control problem to compute all derivatives required by the NLP solver.
  • The latest advances in mesh refinement including hp-adaptive pseudospectral methods.
  • Gaussian quadrature integration methods for rapid convergence.
  • Highly accurate costate estimation.
  • Inclusion of the NLP solver IPOPT.
  • Interface for NLP solver SNOPT included (but SNOPT itself is only provided to University of Florida or State of Florida users)
  • No third-party products other than MATLAB are required.

Latest News! The journal article on GPOPS-II was recently accepted for inclusion in the ACM Transactions on Mathematical Software! The article can be found by clicking here. More information about the methodology used in GPOPS-II can be found by reading the relevant articles in the open literature by clicking here.

Fees for Obtaining and Using GPOPS-II

The fees for using GPOPS-II are as follows:

  • For K-12 or University Classroom Use: NO CHARGE
  • University of Florida Employees or Students and State of Florida Employees or Institutions: NO CHARGE
  • Academic Research, Not-for-Profit, U.S. Government, or Commercial Use: LICENSING FEES APPLY (CLICK HERE TO BE TAKEN TO THE LICENSE PAGE)
For users that must pay a licensing fee, the fees may be paid using PayPal with your PayPal account. One-time 30-day trial licenses are available for all users who register. Those who wish to obtain a trial license or an unlimited use license as either a University of Florida or State of Florida user can register by clicking here or by clicking on the link below.



Image Courtesy of NASA.