Theory and Implementation of Numerical Methods Based on Runge-Kutta Integration for Solving Optimal Control Problems by Adam Lowell Schwartz S.B. (Massachusetts Institute of Technology) 1989 S.M. (Massachusetts Institute of Technology) 1989 A dissertation submitted in partial satisfaction of the requirements for the degree of Doctor of Philosophy in Engineering— Electrical Engineering and Computer Sciences in the GRADUATE DIVISION of the UNIVERSITY of CALIFORNIA at BERKELEY Committee in charge: Professor Elijah Polak, Chair Professor James W. Demmel Professor Shankar Sastry Professor Andrew K. Packard 1996 Theory and Implementation of Numerical Methods Based on Runge-Kutta Integration for Solving Optimal Control Problems Copyright © 1996 by Adam Lowell Schwartz