From 5be243fdd6788b47ab32a68158b527f473e5bfd5 Mon Sep 17 00:00:00 2001
From: Francis Gagnon <34136215+franckgaga@users.noreply.github.com>
Date: Wed, 4 Mar 2026 12:20:07 -0500
Subject: [PATCH] Update transcription method description in README

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 23bdc59f5..4d86e57a5 100644
--- a/README.md
+++ b/README.md
@@ -89,7 +89,7 @@ for more detailed examples.
 - 📈 **Offset-Free**: Automatic model augmentation with integrators.
 - 📊 **Visuals**: Easy integration with `Plots.jl`.
 - 🧩 **Solvers**: Optimization via `JuMP.jl` (quadratic & nonlinear) and derivatives via `DifferentiationInterface.jl`.
-- 📝 **Transcription**: Direct single/multiple shooting and trapezoidal collocation.
+- 📝 **Transcription**: Direct single/multiple shooting and trapezoidal/orthogonal collocation.
 - 🩺 **Troubleshooting**: Detailed diagnostic information about optimum.
 - ⏱️ **Real-Time**: Optimized for low memory allocations with soft real-time utilities.
 - 📟️ **Embedded**: Lightweight C code generation via `LinearMPC.jl`