PySCP: A Multiple-Phase Optimal Control Software Using Sequential Convex Programming

Table 2

Comparison of accuracy and CPU times.

Method	Nodes	h	p	CPU time, ms	Objective	Objective relative error	Max relative error,	Max relative error,
ZOH	10	-	-	7.59	4.57452
	20	-	-	16.87	4.47573
	50	-	-	52.99	4.44945
	100	-	-	144.31	4.44578
FOH	10	-	-	2.49	4.66915
	20	-	-	7.85	4.50242
	50	-	-	29.69	4.45408
	100	-	-	61.58	4.44694
RK	10	-	-	8.01	4.66912
	20	-	-	17.52	4.50255
	50	-	-	57.71	4.45403
	100	-	-	129.11	4.44692
hp LG	20	1	18	36.5	4.44068
	42	1	40	135.1	4.44428
	56	5	10	96.8	4.44393
	106	5	20	274.8	4.44437
hp LGR	21	1	20	33.4	4.44067
	41	1	40	119.0	4.44404
	51	5	10	84.9	4.44406
	101	5	20	252.4	4.44439
hp fLGR	21	1	20	32.0	4.44067
	41	1	40	127.1	4.44404
	51	5	10	84.2	4.44406
	101	5	20	247.7	4.44439