Abstract : This paper deals with nonlinear dynamic systems with given boundary conditions on control inputs. The problem can be�considered as ordinary dynamic optimization problem with defining control inputs as constraints on the boundaries. Then the�problem can be solved by using direct or indirect numerical method. However, when the problem has constraints on the�boundaries, the difficulty arises since the problem contains more boundary conditions compare with the highest order on the�dynamic equations of motion (differential equations). Therefore, the problem is reconsidered by applying jerk equations which�allow assigning more ordinary boundary conditions since the highest order of the necessary conditions have been increased�by the order of one. Both problems are solved in this paper by using direct numerical method and the comparisons have been�made.