## Betts Biehn Campbell 1

### Reference
J. T. Betts, N. Biehn, and S. L. Campbell, Convergence of Nonconvergent IRK Discretizations of Optimal Control Problems with State Inequality Constraints," *SIAM Journal on Scientific Computing*, vol. 23, no. 6, pp. 1981-2007, 2002. doi: 10.1137/S1064827500383044

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

### Solution
A closed-form solution is available for this problem at the reference above.