Reference:
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von Stryk, O, User's Guide for DIRCOL (Version 2.1): A Direct Collocation
Method for the Numerical Solution of Optimal Control Problems. Tech. rep.,
Technische Universitat Munchen, 1999.
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Dolan, E D, and More, J J, Benchmarking Optimization Software with COPS.
Tech. rep., Mathematics and Computer Science Division, 2000.
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Source: GAMS Model of catmix800.gms
from GLOBALLib Library
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Initial source: GAMS Model of catmix.gms
from GAMS Model Library
Solution: