Research in Scientific Computation - SERC

Conclusion
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Numerically Dissipative discretizations may
provide improved condition number, through
consistent perturbation, to the basis matrix in a
SQP solver solving the transcribed problem over
the entire time interval.
This becomes useful when high index constraints
are active.
This improvement may not be enough when
integrating time step by time step for the
dissipative method to succeed for high index
constraints.