Skip to main content


Optirol is a software for optimal control of nonlinear systems, which can be described by ordinary differential equations. I wrote it during my external Ph.D. studies and is freely available (SharpGL is part of it and is delivered as DLL under MIT license). It was written in C# and runs on Windows.
First, I came up with algorithm which is based on subdivision algorithm:
And then I realized I can do it faster and even estimate the error:
  • P. Taraba: Optimal Control Mesh, Proceedings of the World Congress on Engineering and Computer Science, IAENG, October 2012
The software Optirol provides automatically setting files for three different systems:
Software contains three different screens:
Settings screen
Results Screen
Simulations Screen
You can go to github for Optirol if you want to try it out.

Finally, the algorithm got into my Ph.D. thesis as a chapter:
Enjoy free C# software!
[Original website for Optirol project was and is now redirected here]