The solution should include the following:

1. Translate the optimization problem statement into parameters, variables, and equations (+7)
2. Constraint on u between -1 and 1 and initial conditions on x1 and x2. (+3)
3. Correct profile for x1, x2, u, and a value of the objective (+5)
4. Grid independence study, does the value of the objective change as more nodes are added? (+5)
5. Explanation of the solution (+5)