**4. Numerical Examples**

In this section, two numerical examples are used to verify the feasibility and effectiveness of the BDCDO solving framework combined with the SRIRMD sampling strategy and the STOR termination criterion, also called the SRIRMD-STOR method for short. The first numerical example is a classical multidimensional nonlinear dynamic optimization problem involving six state variables and two control inputs. The second example is a numerical nonlinear dynamic co-design and optimization problem that is sensitive to the accuracy of the grid optimization, i.e., it has high requirements on the number and location of the discrete grid nodes of the optimization problem. To solve those two numerical tests, STOR A is regarded as the termination criterion, and the threshold of A is set to 0.95.
