## Simple SASA

### Reference
D. R. Herber and J. T. Allison, "*Unified Scaling of Dynamic Optimization Design Formulations*", in Volume 2A: 43rd Design Automation Conference, 2017, doi: 10.1115/detc2017-67676 [Online]. Available: http://dx.doi.org/10.1115/DETC2017-67676

### Formulation
![formulation](assets/formulation.svg)

<!-- ### Solution -->