Hello again,

I would like to understand the math in the example. I have a question to the math.

196 # Add collocation equations to the NLP 197 [fk] = f.call([T[k,j], X[k,j], U[k]]) 198 g.append(h*fk - xp_jk)

You use Gaussian integration formula with a transformation rule?

For my understanding you don't have forgot the factor 0.5?

198 g.append(0.5*h*fk - xp_jk)

Best,

Vitalij