Welcome to nutopy documentation

The nutopy package aims to provide numerical tools to define and solve optimal control problems. It is mainly based on indirect methdods such as indirect shooting, differential homotopy and conjugate points calculation.

It contains:

  • ivp: numerical integration methods;

  • nle: non linear equations solver;

  • ocp: class to define Hamiltonians, flow of Hamiltonian vector fields, etc;

  • path: differential homotopy;

Please visit the ct Gallery for examples.


You need first conda to install nutopy package. You can install conda as part of a Miniforge installer.

conda install -c control-toolbox -c conda-forge nutopy

User guide


Please visit the ct Gallery for examples.