  The paper explains iterative and non-iterative approaches to control
optimization with use of the Fourier series-based method. Both variants of the
presented algorithm are used to numerically approximate optimal control of a
discontinuous pendulum capsule drive. Firstly, the general algorithm and its
two realizations (iterative and non-iterative) are presented. It is shown that
the iterative variant assures non-decreasing quality of solutions in subsequent
repetitions of the procedure and the background of such guarantees is
explained. A numerical example follows: control of a self-propelled capsule
drive is optimized using both approaches. Results are compared and discussed.
It is expected that the presented methods can be useful in optimal control
estimation for complex systems, particularly discontinuous ones.
