IN THIS PAPER, WE USE THE BERNOULLI OPERATIONAL MATRIX OF DERIVATIVES AND THE COLLOCATION POINTS, FOR SOLVING LINEAR AND NONLINEAR OPTIMAL CONTROL PROBLEMS (OCPS). BY BERNOULLI POLYNOMIALS BASES, THE TWO-POINT BOUNDARY VALUE PROBLEM (TPBVP), DERIVED FROM THE PONTRYAGINS MAXIMUM PRINCIPLE, TRANSFORMS INTO THE MATRIX EQUATION.