## Hager Hou Rao 1

### Reference
W. W. Hager, H. Hou, and A. V. Rao, "*Convergence Rate for a Gauss Collocation Method Applied to Unconstrained Optimal Control*", J Optim Theory Appl, vol. 169, no. 3, pp. 801–824, Mar. 2016, doi: 10.1007/s10957-016-0929-7. [Online]. Available: http://dx.doi.org/10.1007/s10957-016-0929-7

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

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