说明：  最优控制，伪谱法的原代码，经典之作。利用hp自适应高斯积分法求解多相最优控制问题的MATLAB软件。
(optimal control, pseudospectral. A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming)