Before revision:  In this paper, we present a unifying theoretical analysis of a fairly general class of SCP procedures which is applied to the original continuous-time formulation. Besides the extension of classical convergence guarantees to continuous-time settings , our analysis reveals two new features inherited by SCP-type methods .
After revision:  In this paper, we present a unifying theoretical analysis of a fairly general class of SCP procedures which is applied to the original continuous-time optimal control problems. In addition to the derivation of convergence guarantees in a continuous-time settings , our analysis reveals two new features inherited by SCP-type methods .