Betts 10 144 145

[Peter230655]

These are two examples solving the same problem with a bit different (but equivalent) sets of equations of motion.
This might be a candidate for examples-gallery for two reasons:

• The second version (10.145) adds one algebraic equation to the eoms, and add one control variable. As opty needs as many state variables as there are eoms, I simply declared one control variable to be a state variable. Admittedly, not a stroke of genius, but I do not think, this is in examples-gallery, yet.
• the second version, though mathematically equivalent to the first one seems to hold the constraints better by a factor on 10...100. I do not know why this is so. I any case it shows, that different, but equivalent formulations may affect the accuracy.