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Optirol is 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
It can be downloaded from dropbox, or if you want the code for VS 2019, you can go to github for Optirol.

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]