Abstract
We derive order conditions for the discretization of (unconstrained) optimal control problems, when the scheme for the state equation is of Runge-Kutta type. This problem appears to be essentially the one of checking order conditions for symplectic partitioned Runge-Kutta schemes. We show that the computations using bi-coloured trees are naturally expressed in this case in terms of oriented free tree. This gives a way to compute them by an appropriate computer program.
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