Nov 27, 2022 · Nov 26, 2022
diff --git a/doc/optimal.rst b/doc/optimal.rst
 solutions do not seem close to optimal, here are a few things to try:

 * Less is more: try using a smaller number of time points in your
 optimiation.  The default optimal control problem formulation uses the
 optimization.  The default optimal control problem formulation uses the
  value of the inputs at each time point as a free variable and this can
  generate a large number of parameters quickly.  Often you can find very
  good solutions with a small number of free variables (the example above
Original file line number	Diff line number	Diff line change
Expand Up		@@ -283,7 +283,7 @@ If you are getting errors when solving optimal control problems or your
		solutions do not seem close to optimal, here are a few things to try:

		* Less is more: try using a smaller number of time points in your
		optimiation. The default optimal control problem formulation uses the
		optimization. The default optimal control problem formulation uses the
		value of the inputs at each time point as a free variable and this can
		generate a large number of parameters quickly. Often you can find very
		good solutions with a small number of free variables (the example above
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