Department of Applied Analysis and Complex Dynamical Systems, Graduate School of Informatics, Kyoto University, Kyoto, Japan;
Department of Mechanical and Environmental informatics, Graduate School of Information Science and Engineering, Tokyo Institute of Technology, Tokyo, Japan;
Department of Mechatronics, Faculty of Science and Engineering, Nanzan University, Nagoya, Japan;
Optimal; Controls; Nonlinear; Systems; Constrained; Systems; Symplectic; Numerical; Methods; Stable; Manifold; Method;