In the arXiv paper [arXiv:1712.07761] from December 2017 we presented a convergent direct transcription method for optimal control problems. In the present paper we present a significantly generalized convergence theory in succinct form. Therein, we replace strong assumptions that we had formerly made on local uniqueness of the solution, and on differentiability of a particular functional. These assumptions are removed now.
View Significant Generalization of the Convergence Proof for the Direct Transcription Method for Constrained Optimal Control Problems