diff --git a/doc/optimal.rst b/doc/optimal.rst
index bb952e9cc..d161b77ad 100644
--- a/doc/optimal.rst
+++ b/doc/optimal.rst
@@ -283,7 +283,7 @@ If you are getting errors when solving optimal control problems or your
solutions do not seem close to optimal, here are a few things to try:
* Less is more: try using a smaller number of time points in your
- optimiation. The default optimal control problem formulation uses the
+ optimization. The default optimal control problem formulation uses the
value of the inputs at each time point as a free variable and this can
generate a large number of parameters quickly. Often you can find very
good solutions with a small number of free variables (the example above
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