We present a novel direct integral pseudospectral (PS) method (a direct IPS method) for solving a class of continuous-time infinite-horizon optimal control problems (IHOCs). The method transforms the IHOCs into finite-horizon optimal control problems in their integral forms by means of certain parametric mappings. which are then approximated by finite-dimensional nonlinear programming... https://www.roneverhart.com/Dudley-ASA-Thunder-ZN-Hycon-12-52-300-Softballs-4A-068Y/