Jacobi pseudospectral method for solving optimal control problems

The generalization of pseudospectral method for collocation based on roots of derivatives of general Jacobi polynomials was described. The Legendre and Chebyshev nodes were also obtained as particular cases of more general formulation. The state equations were enforced by differentiation of approximating polynomial at Gauss-Lobatto points. The appropriate selection of Jacobi parameters also determined real-time solution to nonlinear optimal control problems.