fix links

Author: ocots

docs/src/dev-ctbase.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [CTBase.jl](control-toolbox.org/CTBase.jl/) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [CTBase.jl](https://github.com/control-toolbox/CTBase.jl/) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/dev-ctdirect.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [CTDirect.jl](control-toolbox.org/CTDirect.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [CTDirect.jl](https://github.com/control-toolbox/CTDirect.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/dev-ctflows.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [CTFlows.jl](control-toolbox.org/CTFlows.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [CTFlows.jl](https://github.com/control-toolbox/CTFlows.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/dev-ctmodels.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [CTModels.jl](control-toolbox.org/CTModels.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [CTModels.jl](https://github.com/control-toolbox/CTModels.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/dev-ctparser.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [CTParser.jl](control-toolbox.org/CTParser.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [CTParser.jl](https://github.com/control-toolbox/CTParser.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/dev-optimalcontrol.md

@@ -4,7 +4,7 @@
 CollapsedDocStrings = false
 ```
 
-The [OptimalControl.jl](https://control-toolbox.org/OptimalControl.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
+The [OptimalControl.jl](https://github.com/control-toolbox/OptimalControl.jl) package is part of the [control-toolbox ecosystem](https://github.com/control-toolbox).
 
 ```mermaid
 flowchart TD

docs/src/juliacon2024.md

@@ -58,8 +58,8 @@ plus boundary conditions, control and state constraints
 ## Credits (not exhaustive!)
 
 - [ADNLPModels.jl](https://jso.dev/ADNLPModels.jl)
-- [DifferentiationInterface.jl](https://gdalle.github.io/DifferentiationInterface.jl/DifferentiationInterface/stable)
-- [DifferentialEquations.jl](https://github.com/SciML/DifferentialEquations.jl)
+- [DifferentiationInterface.jl](https://juliadiff.org/DifferentiationInterface.jl/DifferentiationInterface)
+- [DifferentialEquations.jl](https://docs.sciml.ai/DiffEqDocs)
 - [MLStyle.jl](https://thautwarm.github.io/MLStyle.jl)
 
 ## Acknowledgements

docs/src/tutorial-abstract.md

@@ -4,7 +4,7 @@ The full grammar of [OptimalControl.jl](https://control-toolbox.org/OptimalContr
 - pure Julia (and, as such, effortlessly analysed by the standard Julia parser),
 - as close as possible to the mathematical description of an optimal control problem. 
 
-While the syntax will be transparent to those users familiar with Julia expressions (`Expr`'s), we provide examples for every case that should be widely understandable. We rely heavily on [MLStyle.jl](https://github.com/thautwarm/MLStyle.jl) and its pattern matching abilities 👍🏽 for the semantic pass. Abstract definitions use the macro `@def`.
+While the syntax will be transparent to those users familiar with Julia expressions (`Expr`'s), we provide examples for every case that should be widely understandable. We rely heavily on [MLStyle.jl](https://thautwarm.github.io/MLStyle.jl) and its pattern matching abilities 👍🏽 for the semantic pass. Abstract definitions use the macro `@def`.
 
 ## [Variable](@id tutorial-abstract-variable)
 
@@ -77,7 +77,7 @@ tf = 5
 end
 ```
 
-One (or even the two bounds) can be variable, typically for minimum time problems (see [Mayer cost](#mayer) section):
+One (or even the two bounds) can be variable, typically for minimum time problems (see [Mayer cost](@ref tutorial-abstract-mayer) section):
 
 ```julia
 @def begin

docs/src/tutorial-solve.md

@@ -14,18 +14,13 @@ tf = 1
 x0 = [-1, 0]
 
 ocp = @def begin
-
     t ∈ [ t0, tf ], time
     x = (q, v) ∈ R², state
     u ∈ R, control
-
     x(t0) == x0
     x(tf) == [ 0, 0 ]
-
     ẋ(t)  == [ v(t), u(t) ]
-
     ∫( 0.5u(t)^2 ) → min
-
 end
 nothing # hide
 ```
@@ -34,7 +29,6 @@ We can now solve the problem:
 
 ```@example main
 using NLPModelsIpopt
-
 solve(ocp)
 nothing # hide
 ```
@@ -45,17 +39,16 @@ This is because the method currently implements a direct approach, where the opt
 \text{minimize}\quad F(y), \quad\text{subject to the constraints}\quad g(y)=0, \quad h(y)\le 0. 
 ```
 
-Note: calling `solve` without loading a NLP solver package first will notify the user:
+Calling `solve` without loading a NLP solver package first will notify the user:
+
 ```julia
 julia> solve(ocp)
 ERROR: ExtensionError. Please make: julia> using NLPModelsIpopt
 ```
 
-See below for the NLP solver options.
-
 ## Resolution methods and algorithms
 
-OptimalControl.jl offers a list of methods to solve your optimal control problem. To get the list of methods, simply call `available_methods`.
+OptimalControl offers a list of methods to solve your optimal control problem. To get the list of methods, simply call `available_methods`.
 
 ```@example main
 available_methods()
@@ -86,7 +79,6 @@ For instance, let us try MadNLP.jl.
 
 ```@example main
 using MadNLP
-
 solve(ocp, :madnlp)
 nothing # hide
 ```
@@ -107,15 +99,14 @@ solve(ocp, :direct, :adnlp, :ipopt)
 
 ## Direct method
 
-The options for the direct method are listed in the [`direct_solve`](@ref) keywords.
-The main options, with their [default values], are:
-- `display` ([true], false): setting `display` to false will disable output
-- `grid_size` ([250]): size of the (uniform) time discretization grid. More precisely, it is the number of time steps, that is if `N = grid_size` and if the initial and final times are denoted respectively `t0` and `tf`, then we have `Δt = (tf - t0) / N`
+The options for the direct method are listed [here](https://control-toolbox.org/OptimalControl.jl/stable/dev-ctdirect.html#CTDirect.solve-Tuple{Model,%20Vararg{Symbol}}). The main options, with their [default values], are:
+- `display` ([true], false): setting `display` to false will disable output.
+- `grid_size` ([250]): size of the (uniform) time discretization grid. More precisely, it is the number of time steps, that is if `N = grid_size` and if the initial and final times are denoted respectively `t0` and `tf`, then we have `Δt = (tf - t0) / N`.
 - `disc_method` ([`:trapeze`], `:midpoint`, `:euler`, `:euler_implicit`, `:gauss_legendre_2`, `:gauss_legendre_3`): see [discretisation methods](https://control-toolbox.org/Tutorials.jl/stable/tutorial-discretisation/).
 - `init`: info for the starting guess, which can be provided as numerical values, functions, or an existing solution. See [initial guess tutorial](@ref tutorial-initial-guess). 
 
 For examples of more advanced use, see 
-- [discrete continuation]([@ref tutorial-continuation](https://control-toolbox.org/Tutorials.jl/stable/tutorial-continuation/))
+- [discrete continuation](https://control-toolbox.org/Tutorials.jl/stable/tutorial-continuation/)
 - [NLP direct handling](https://control-toolbox.org/Tutorials.jl/stable/tutorial-nlp/)
 
 

docs/src/zhejiang-2025.md

@@ -62,10 +62,10 @@ plus boundary, control and state constraints
 ## Credits (not exhaustive!)
 
 - [ADNLPModels.jl](https://jso.dev/ADNLPModels.jl)
-- [DifferentiationInterface.jl](https://gdalle.github.io/DifferentiationInterface.jl/DifferentiationInterface/stable)
-- [DifferentialEquations.jl](https://github.com/SciML/DifferentialEquations.jl)
+- [DifferentiationInterface.jl](https://juliadiff.org/DifferentiationInterface.jl/DifferentiationInterface)
+- [DifferentialEquations.jl](https://docs.sciml.ai/DiffEqDocs)
 - [Ipopt.jl](https://github.com/jump-dev/Ipopt.jl)
-- [MadNLP.jl](https://github.com/MadNLP/MadNLP.jl)
+- [MadNLP.jl](https://madnlp.github.io/MadNLP.jl)
 - [MLStyle.jl](https://thautwarm.github.io/MLStyle.jl)
 
 ## Stand up for science 2025