In this paper we derive error estimates for Runge–Kutta schemes of optimal control problems subject to index one differential–algebraic equations (DAEs). Usually, Runge–Kutta methods applied to DAEs approximate the differential and algebraic state in an analogous manner. These schemes can...

The combinatorial integral approximation (CIA) decomposition suggests solving mixed-integer optimal control problems by solving one continuous nonlinear control problem and one mixed-integer linear program (MILP). Unrealistic frequent switching can be avoided by adding a constraint on the total...