I'm working with the first version of GPOPS, which is a software for optimal control problems. I know it uses SNOPT to solve problems, but it doesn't work correctly, and it stops convergence prematurely. I know how to use and adjust fmincon function in Matlab, but I couldn't find the stopping criteria variables in GPOPS at its manual. There are just some mesh criteria. I'm reading the codes, but it takes a long time. I appreciate anyone knows some useful references.