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diff --git a/_modules/dymos/phase/analytic_phase.html b/_modules/dymos/phase/analytic_phase.html
@@ -200,6 +200,7 @@
 
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/cart_pole/cart_pole.html">Cart-Pole Optimal Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/brachistochrone/brachistochrone_tandem_phases.html">Brachistochrone with tandem phases</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../examples/cannonball_implicit_duration/cannonball_implicit_duration.html">Cannonball Implicit Duration</a></li>
 </ul>
 </li>
 </ul>

diff --git a/_modules/dymos/phase/phase.html b/_modules/dymos/phase/phase.html
@@ -200,6 +200,7 @@
 
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/cart_pole/cart_pole.html">Cart-Pole Optimal Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/brachistochrone/brachistochrone_tandem_phases.html">Brachistochrone with tandem phases</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../examples/cannonball_implicit_duration/cannonball_implicit_duration.html">Cannonball Implicit Duration</a></li>
 </ul>
 </li>
 </ul>
@@ -1105,7 +1106,7 @@ <h1>Source code for dymos.phase.phase</h1><div class="highlight"><pre>
                                <span class="n">ref</span><span class="o">=</span><span class="n">_unspecified</span><span class="p">,</span> <span class="n">targets</span><span class="o">=</span><span class="n">_unspecified</span><span class="p">,</span> <span class="n">rate_targets</span><span class="o">=</span><span class="n">_unspecified</span><span class="p">,</span>
                                <span class="n">rate2_targets</span><span class="o">=</span><span class="n">_unspecified</span><span class="p">,</span> <span class="n">shape</span><span class="o">=</span><span class="n">_unspecified</span><span class="p">):</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
-<span class="sd">        Adds an polynomial control variable to be tied to a parameter in the ODE.</span>
+<span class="sd">        Adds a polynomial control variable to be tied to a parameter in the ODE.</span>
 
 <span class="sd">        Polynomial controls are defined by values at the Legendre-Gauss-Lobatto nodes of a</span>
 <span class="sd">        single polynomial, defined on [-1, 1] in phase tau space.</span>
@@ -2102,6 +2103,67 @@ <h1>Source code for dymos.phase.phase</h1><div class="highlight"><pre>
         <span class="k">if</span> <span class="n">name</span> <span class="ow">is</span> <span class="ow">not</span> <span class="n">_unspecified</span><span class="p">:</span>
             <span class="bp">self</span><span class="o">.</span><span class="n">time_options</span><span class="p">[</span><span class="s1">&#39;name&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">name</span></div>
 
+    <span class="k">def</span> <span class="nf">set_duration_balance</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">,</span> <span class="n">val</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">index</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">units</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">mult_val</span><span class="o">=</span><span class="kc">None</span><span class="p">,</span> <span class="n">normalize</span><span class="o">=</span><span class="kc">False</span><span class="p">):</span>
+<span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
+<span class="sd">        Adds a condition for the duration of the phase. This is satisfied using a nonlinear solver.</span>
+
+<span class="sd">        Parameters</span>
+<span class="sd">        ----------</span>
+<span class="sd">        name : str</span>
+<span class="sd">            Name of the variable.  This should be a state or control variable, the path to an output</span>
+<span class="sd">            from the top level of the RHS, or an expression to be evaluated. If an expression,</span>
+<span class="sd">            it must be provided in the form of an equation with a left- and right-hand side.</span>
+<span class="sd">        val :  float</span>
+<span class="sd">            The value that the residual must equal at the end  point of the phase.</span>
+<span class="sd">        index : int, optional</span>
+<span class="sd">            If variable is an array at each point in time, this indicates which index is to be</span>
+<span class="sd">            used as the objective, assuming C-ordered flattening.</span>
+<span class="sd">        units : str, optional</span>
+<span class="sd">            The units of the objective function.  If None, use the units associated with the target.</span>
+<span class="sd">            If provided, must be compatible with the target units.</span>
+<span class="sd">        mult_val : float, optional</span>
+<span class="sd">            Default value for the LHS multiplier.</span>
+<span class="sd">        normalize : bool, optional</span>
+<span class="sd">            Specifies whether the resulting residual should be normalized by a quadratic</span>
+<span class="sd">            function of the RHS.</span>
+<span class="sd">        &quot;&quot;&quot;</span>
+        <span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">time_options</span><span class="p">[</span><span class="s1">&#39;fix_duration&#39;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">&#39;Cannot implicitly solve for phase duration when fix_duration is True&#39;</span><span class="p">)</span>
+        <span class="k">elif</span> <span class="bp">self</span><span class="o">.</span><span class="n">time_options</span><span class="p">[</span><span class="s1">&#39;input_duration&#39;</span><span class="p">]:</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="s1">&#39;Cannot implicitly solve for phase duration when input_duration is True&#39;</span><span class="p">)</span>
+
+        <span class="k">if</span> <span class="nb">isinstance</span><span class="p">(</span><span class="bp">self</span><span class="o">.</span><span class="n">options</span><span class="p">[</span><span class="s1">&#39;transcription&#39;</span><span class="p">],</span> <span class="n">ExplicitShooting</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">NotImplementedError</span><span class="p">(</span><span class="s1">&#39;Transcription ExplicitShooting does not implement method setup_duration_balance&#39;</span><span class="p">)</span>
+
+        <span class="n">options</span> <span class="o">=</span> <span class="p">{</span><span class="s1">&#39;name&#39;</span><span class="p">:</span> <span class="n">name</span><span class="p">,</span>
+                   <span class="s1">&#39;val&#39;</span><span class="p">:</span> <span class="n">val</span><span class="p">,</span>
+                   <span class="s1">&#39;index&#39;</span><span class="p">:</span> <span class="n">index</span><span class="p">,</span>
+                   <span class="s1">&#39;units&#39;</span><span class="p">:</span> <span class="n">units</span><span class="p">,</span>
+                   <span class="s1">&#39;mult_val&#39;</span><span class="p">:</span> <span class="n">mult_val</span><span class="p">,</span>
+                   <span class="s1">&#39;normalize&#39;</span><span class="p">:</span> <span class="n">normalize</span><span class="p">}</span>
+
+        <span class="n">expr_operators</span> <span class="o">=</span> <span class="p">[</span><span class="s1">&#39;(&#39;</span><span class="p">,</span> <span class="s1">&#39;+&#39;</span><span class="p">,</span> <span class="s1">&#39;-&#39;</span><span class="p">,</span> <span class="s1">&#39;/&#39;</span><span class="p">,</span> <span class="s1">&#39;*&#39;</span><span class="p">,</span> <span class="s1">&#39;&amp;&#39;</span><span class="p">,</span> <span class="s1">&#39;%&#39;</span><span class="p">,</span> <span class="s1">&#39;@&#39;</span><span class="p">]</span>
+        <span class="k">if</span> <span class="s1">&#39;=&#39;</span> <span class="ow">in</span> <span class="n">name</span><span class="p">:</span>
+            <span class="n">is_expr</span> <span class="o">=</span> <span class="kc">True</span>
+        <span class="k">elif</span> <span class="s1">&#39;=&#39;</span> <span class="ow">not</span> <span class="ow">in</span> <span class="n">name</span> <span class="ow">and</span> <span class="nb">any</span><span class="p">(</span><span class="n">opr</span> <span class="ow">in</span> <span class="n">name</span> <span class="k">for</span> <span class="n">opr</span> <span class="ow">in</span> <span class="n">expr_operators</span><span class="p">):</span>
+            <span class="k">raise</span> <span class="ne">ValueError</span><span class="p">(</span><span class="sa">f</span><span class="s1">&#39;The expression provided `</span><span class="si">{</span><span class="n">name</span><span class="si">}</span><span class="s1">` has invalid format. &#39;</span>
+                             <span class="s1">&#39;Expression may be a single variable or an equation &#39;</span>
+                             <span class="s1">&#39;of the form `constraint_name = func(vars)`&#39;</span><span class="p">)</span>
+        <span class="k">else</span><span class="p">:</span>
+            <span class="n">is_expr</span> <span class="o">=</span> <span class="kc">False</span>
+
+        <span class="n">balance_name</span> <span class="o">=</span> <span class="n">name</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s1">&#39;=&#39;</span><span class="p">)[</span><span class="mi">0</span><span class="p">]</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span> <span class="k">if</span> <span class="n">is_expr</span> <span class="k">else</span> <span class="n">name</span>
+
+        <span class="n">options</span><span class="p">[</span><span class="s1">&#39;is_expr&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">is_expr</span>
+        <span class="n">options</span><span class="p">[</span><span class="s1">&#39;balance_name&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">balance_name</span>
+
+        <span class="bp">self</span><span class="o">.</span><span class="n">time_options</span><span class="p">[</span><span class="s1">&#39;t_duration_balance_options&#39;</span><span class="p">]</span> <span class="o">=</span> <span class="n">options</span>
+
+        <span class="n">var_type</span> <span class="o">=</span> <span class="bp">self</span><span class="o">.</span><span class="n">classify_var</span><span class="p">(</span><span class="n">name</span><span class="p">)</span>
+        <span class="k">if</span> <span class="n">var_type</span> <span class="o">==</span> <span class="s1">&#39;ode&#39;</span><span class="p">:</span>
+            <span class="k">if</span> <span class="n">balance_name</span> <span class="ow">not</span> <span class="ow">in</span> <span class="bp">self</span><span class="o">.</span><span class="n">_timeseries</span><span class="p">[</span><span class="s1">&#39;timeseries&#39;</span><span class="p">][</span><span class="s1">&#39;outputs&#39;</span><span class="p">]:</span>
+                <span class="bp">self</span><span class="o">.</span><span class="n">add_timeseries_output</span><span class="p">(</span><span class="n">name</span><span class="p">,</span> <span class="n">output_name</span><span class="o">=</span><span class="n">balance_name</span><span class="p">,</span> <span class="n">units</span><span class="o">=</span><span class="n">units</span><span class="p">)</span>
+
     <span class="k">def</span> <span class="nf">classify_var</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">var</span><span class="p">):</span>
 <span class="w">        </span><span class="sd">&quot;&quot;&quot;</span>
 <span class="sd">        Classifies a variable of the given name or path.</span>
@@ -2181,6 +2243,9 @@ <h1>Source code for dymos.phase.phase</h1><div class="highlight"><pre>
         <span class="n">transcription</span><span class="o">.</span><span class="n">setup_ode</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
 
         <span class="n">transcription</span><span class="o">.</span><span class="n">setup_timeseries_outputs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
+        <span class="n">transcription</span><span class="o">.</span><span class="n">setup_duration_balance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
         <span class="n">transcription</span><span class="o">.</span><span class="n">setup_defects</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
         <span class="n">transcription</span><span class="o">.</span><span class="n">setup_solvers</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
 
@@ -2240,6 +2305,8 @@ <h1>Source code for dymos.phase.phase</h1><div class="highlight"><pre>
 
         <span class="n">transcription</span><span class="o">.</span><span class="n">configure_timeseries_outputs</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
 
+        <span class="n">transcription</span><span class="o">.</span><span class="n">configure_duration_balance</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
+
         <span class="n">transcription</span><span class="o">.</span><span class="n">configure_solvers</span><span class="p">(</span><span class="bp">self</span><span class="p">)</span>
 
     <span class="k">def</span> <span class="nf">check_time_options</span><span class="p">(</span><span class="bp">self</span><span class="p">):</span>

diff --git a/_modules/dymos/run_problem.html b/_modules/dymos/run_problem.html
@@ -200,6 +200,7 @@
 
 <li class="toctree-l2"><a class="reference internal" href="../../examples/cart_pole/cart_pole.html">Cart-Pole Optimal Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../examples/brachistochrone/brachistochrone_tandem_phases.html">Brachistochrone with tandem phases</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../examples/cannonball_implicit_duration/cannonball_implicit_duration.html">Cannonball Implicit Duration</a></li>
 </ul>
 </li>
 </ul>

diff --git a/_modules/dymos/trajectory/trajectory.html b/_modules/dymos/trajectory/trajectory.html
@@ -200,6 +200,7 @@
 
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/cart_pole/cart_pole.html">Cart-Pole Optimal Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../../../examples/brachistochrone/brachistochrone_tandem_phases.html">Brachistochrone with tandem phases</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../../examples/cannonball_implicit_duration/cannonball_implicit_duration.html">Cannonball Implicit Duration</a></li>
 </ul>
 </li>
 </ul>

diff --git a/_modules/index.html b/_modules/index.html
@@ -200,6 +200,7 @@
 
 <li class="toctree-l2"><a class="reference internal" href="../examples/cart_pole/cart_pole.html">Cart-Pole Optimal Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="../examples/brachistochrone/brachistochrone_tandem_phases.html">Brachistochrone with tandem phases</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../examples/cannonball_implicit_duration/cannonball_implicit_duration.html">Cannonball Implicit Duration</a></li>
 </ul>
 </li>
 </ul>