Abstract :� This paper deals with nonlinear dynamic systems�with given boundary conditions on control inputs. The�problem can be considered as ordinary dynamic optimization�problem with defining control inputs as constraints on the�boundaries. Then the problem can be solved by using direct or�indirect numerical method. However, when the problem has�constraints on the boundaries, the difficulty arises since the�problem contains more boundary conditions compare with the�highest order on the dynamic equations of motion (differential�equations). Therefore, the problem is reconsidered by�applying both direct and indirect jerk equations which allow
assigning more ordinary boundary conditions since the highest�order of the necessary conditions have been increased by the�order of one. Both problems are solved in this paper by using�direct numerical method and the comparisons have been made.