“…However, any method appropriate to the approximate problem established in Section 3, Problem P M , can be applied to the time domain. Discretized state and control constraints ( 14) -( 18) may create an approximate problem which, due to the constraints, may benefit from a method from a time domain method which caters more specifically to constrained optimal control problems, such as the local pseudospectral method [Darby, Garg, and Rao (2011)], or the symplectic pseudospectral method [Wang, Peng, Zhang, Chen, and Zhong (2017)]. This can be ascertained from the structure of Problem P. In this example, which has smooth state and control solutions, we find the global pseudospectral method utilized to be sufficient.…”