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Constraints at intermediate times #482

@ocots

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@ocots
          The example provided in this [tutorial](https://infiniteopt.github.io/InfiniteOpt.jl/stable/examples/Optimal%20Control/hovercraft/) have constraints on intermediate values of the state.

I guess that's not allowed in OptimalControl.
I'll look for another model to use in the comparison : https://infiniteopt.github.io/InfiniteOpt.jl/stable/examples/Optimal%20Control/consumption_savings/#Consumption-Savings-Problem

Originally posted by @0Yassine0 in control-toolbox/CTBenchmarks.jl#21 (comment)

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