Reference:
Daniel R Herber. 'Solving Optimal Control Problems using Simscape Models for State Derivatives.' Technical report, Engineering System Design Lab, UIUC-ESDL-2014-01, Urbana, IL, USA, Jul 2014.
Bibtex Entry:
@TechReport{Herber2014b,
  author      = {Herber, Daniel R},
  title       = {Solving Optimal Control Problems using Simscape Models for State Derivatives},
  institution = {Engineering System Design Lab},
  year        = {2014},
  type        = {Technical Report},
  number      = {UIUC-ESDL-2014-01},
  month       = jul,
  url         = {http://hdl.handle.net/2142/50015},
  address     = {Urbana, IL, USA},
  pdf         = {http://systemdesign.illinois.edu/publications/Her14b.pdf},
  ESDLnote    = {<img src="img/publications/code_icon.svg" style="width: auto; height: 10px;"> (<a href="http://www.mathworks.com/matlabcentral/fileexchange/47317">MATLAB Code</a>)},
  
}
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