Before revision: One based on Gauss points First proposed by Reddien ReddienReddien, G.W., "Collocation at Gauss Points as a Discretization in Optimal Control," SIAM Journal on Control and Optimization, Vol.
After revision: One based on Gauss points First proposed by ReddienReddien, G.W., "Collocation at Gauss Points as a Discretization in Optimal Control," SIAM Journal on Control and Optimization, Vol.