The previously developed Gauss pseudospectral method is extended to the case of nonlinear infinite-horizon optimal control problems. First, the semi-infinite domain t ∈ [0,+∞) is transformed to the domain τ = [−1,+1). The first-order optimality conditions of NLP obtained from the pseudospectral discretization are then presented. These optimality conditions are related to the KKT multipliers of ...