What is "gpops-ii"

GPOPS-II (pronounced "GPOPS 2") is a general-purpose MATLAB software for solving continuous optimal control problems using hp-adaptive Gaussian quadrature collocation and sparse nonlinear programming. The acronym GPOPS stands for "General Purpose OPtimal Control Software", and the Roman numeral "II" refers to the fact that GPOPS-II is the second software of its type (that employs Gaussian quadrature integration).