Before revision: The concept was introduced by I. Michael Ross and F. FahrooRoss, I. M. and Fahroo, F., Pseudospectral Knotting Methods for Solving Optimal Control Problems, Journal of Guidance, Control and Dynamics, Vol.
After revision: The concept was introduced by I. Michael Ross and F. Fahroo in 2004, and forms part of the collection of the Ross–Fahroo pseudospectral methods.Ross, I. M. and Fahroo, F., Pseudospectral Knotting Methods for Solving Optimal Control Problems, Journal of Guidance, Control and Dynamics, Vol.