Constrained,free time optimal control in MATLAB

I am designing an Optimal Control System for a Nonlinear Plant Model. A constrained, free time optimization is needed for it. But, 'fmincon' only provides solution to Constrained fixed time optimal system. Is there any way out for it !

Answer 1

[Alan Weiss]

Perhaps you can include time as another variable in your problem, and ask fmincon to minimize over it, too. If x(1),..,x(n) are your current decision variables, use x(n+1) = time.

Alan Weiss

MATLAB mathematical toolbox documentation

[Deepraj]

thank you Alan. But can you provide a little insight to it..some example regarding the same...