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diff --git a/_images/08dd83d55c78ad852367734d3e2fbedc62556448f1ddfbe61def14221dddce5b.png b/_images/08dd83d55c78ad852367734d3e2fbedc62556448f1ddfbe61def14221dddce5b.png
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diff --git a/_images/e716f76e67b51d23677d71b42feee07cb24a2a3a16789fa06b8e8c6c821d3dc9.png b/_images/e716f76e67b51d23677d71b42feee07cb24a2a3a16789fa06b8e8c6c821d3dc9.png
diff --git a/_images/fab1a0618e1bb8e3f97046043e5f012ef2abe1f237061b315fee7eb907f12b7c.png b/_images/fab1a0618e1bb8e3f97046043e5f012ef2abe1f237061b315fee7eb907f12b7c.png
diff --git a/_sources/notebooks/plotting.ipynb b/_sources/notebooks/plotting.ipynb
diff --git a/_sources/notebooks/udp_pl2pl.ipynb b/_sources/notebooks/udp_pl2pl.ipynb
@@ -4,11 +4,11 @@
  "cell_type": "markdown",
  "metadata": {},
  "source": [
- "# Planet to planet low-thrust transfer\n",
+ "# Planet to planet low-thrust\n",
  "\n",
  "In this tutorial we show the use of the {class}`pykep.trajopt.direct_pl2pl` to find a low-thrust trajectory connecting two moving planets. \n",
  "\n",
- "The decision vector for this class, compatible with {cite:p}`pagmo` UDPs (User Defined Problems), is:\n",
+ "The decision vector for this class, compatible with pygmo {cite:p}`pagmo` UDPs (User Defined Problems), is:\n",
  "\n",
  "$$\n",
  "\\mathbf x = [t_0, m_f, V_{sx}^\\infty, V^\\infty_{sy}, V^\\infty_{sz}, V^\\infty_{fx}, V^\\infty_{fy}, V^\\infty_{fz}, u_{x0}, u_{y0}, u_{z0}, u_{x1}, u_{y1}, u_{z1}, ..., T_{tof}]\n",

diff --git a/_sources/notebooks/udp_point2point.ipynb b/_sources/notebooks/udp_point2point.ipynb
@@ -4,11 +4,11 @@
  "cell_type": "markdown",
  "metadata": {},
  "source": [
- "# Point to point low-thrust transfer\n",
+ "# Point to point low-thrust\n",
  "\n",
  "In this tutorial we show the use of the {class}`pykep.trajopt.direct_point2point` to find a low-thrust trajectory connecting two fixed points in space. \n",
  "Since the points are considered fixed this effort has mainly an academic value, but it is infomrative in the study of the numerical properties of an optimization pipeline. \n",
- "The decision vector in this class compatible with {cite:p}`pagmo` UDPs (User Defined Problems) is:\n",
+ "The decision vector in this class compatible with pygmo {cite:p}`pagmo` UDPs (User Defined Problems) is:\n",
  "\n",
  "$$\n",
  "\\mathbf x = [m_f, u_{x0}, u_{y0}, u_{z0}, u_{x1}, u_{y1}, u_{z1}, ..., T_{tof}]\n",

diff --git a/_sources/propagation.rst b/_sources/propagation.rst
@@ -11,11 +11,21 @@ seamlessly via variational equations.
 
 The main routines are listed here:
 
-Keplerian dynamics
+Keplerian dynamics 
 ===================
 
 .. currentmodule:: pykep
 
 .. autofunction:: propagate_lagrangian
 
-.. autofunction:: propagate_lagrangian_v
+.. autofunction:: propagate_lagrangian_v
+
+---------------------------------------------------------
+
+Non-Keplerian dynamics
+======================
+
+.. currentmodule:: pykep
+
+.. autoclass:: stark_problem
+ :members: propagate, propagate_var, mu, veff, tol
diff --git a/_sources/trajopt.rst b/_sources/trajopt.rst
@@ -18,6 +18,8 @@ Direct
 .. autoclass:: direct_point2point
  :members: pretty, plot
 
+-------------------------------------------------------
+
 .. autoclass:: direct_pl2pl
  :members: pretty, plot
 

diff --git a/_sources/tut_trajopt.rst b/_sources/tut_trajopt.rst
@@ -27,6 +27,8 @@ Trajectory Optimization
  :maxdepth: 1
 
  notebooks/udp_point2point
+ notebooks/udp_pl2pl
+
 
 
 
diff --git a/anomalies.html b/anomalies.html
@@ -171,6 +171,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -190,7 +191,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/api.html b/api.html
@@ -169,6 +169,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -188,7 +189,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>
@@ -438,6 +440,10 @@ <h1>API</h1>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html#pykep.propagate_lagrangian_v"><code class="docutils literal notranslate"><span class="pre">propagate_lagrangian_v()</span></code></a></li>
 </ul>
 </li>
+<li class="toctree-l1"><a class="reference internal" href="propagation.html#non-keplerian-dynamics">Non-Keplerian dynamics</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="propagation.html#pykep.stark_problem"><code class="docutils literal notranslate"><span class="pre">stark_problem</span></code></a></li>
+</ul>
+</li>
 <li class="toctree-l1"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="udpla.html#pykep.udpla.null_udpla"><code class="docutils literal notranslate"><span class="pre">null_udpla</span></code></a></li>
 <li class="toctree-l2"><a class="reference internal" href="udpla.html#pykep.udpla.keplerian"><code class="docutils literal notranslate"><span class="pre">keplerian</span></code></a></li>

diff --git a/bibliography.html b/bibliography.html
@@ -169,6 +169,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -188,7 +189,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/constants.html b/constants.html
@@ -171,6 +171,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -190,7 +191,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/elements.html b/elements.html
@@ -171,6 +171,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -190,7 +191,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/epoch.html b/epoch.html
@@ -169,6 +169,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -188,7 +189,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/genindex.html b/genindex.html
@@ -168,6 +168,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -187,7 +188,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>
@@ -635,6 +637,8 @@ <h2 id="M">M</h2>
 
  <ul>
  <li><a href="leg.html#pykep.leg.sims_flanagan.mu">(pykep.leg.sims_flanagan property)</a>
+</li>
+ <li><a href="propagation.html#pykep.stark_problem.mu">(pykep.stark_problem property)</a>
 </li>
  </ul></li>
  </ul></td>
@@ -693,9 +697,13 @@ <h2 id="P">P</h2>
  <li><a href="trajopt.html#pykep.trajopt.direct_point2point.pretty">(pykep.trajopt.direct_point2point method)</a>
 </li>
  </ul></li>
+ <li><a href="propagation.html#pykep.stark_problem.propagate">propagate() (pykep.stark_problem method)</a>
+</li>
  <li><a href="propagation.html#pykep.propagate_lagrangian">propagate_lagrangian() (in module pykep)</a>
 </li>
  <li><a href="propagation.html#pykep.propagate_lagrangian_v">propagate_lagrangian_v() (in module pykep)</a>
+</li>
+ <li><a href="propagation.html#pykep.stark_problem.propagate_var">propagate_var() (pykep.stark_problem method)</a>
 </li>
  </ul></td>
 </tr></table>
@@ -724,6 +732,8 @@ <h2 id="S">S</h2>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
  <li><a href="udpla.html#pykep.udpla.spice">spice (class in pykep.udpla)</a>
+</li>
+ <li><a href="propagation.html#pykep.stark_problem">stark_problem (class in pykep)</a>
 </li>
  </ul></td>
 </tr></table>
@@ -743,17 +753,21 @@ <h2 id="T">T</h2>
  <li><a href="leg.html#pykep.leg.sims_flanagan.tof">(pykep.leg.sims_flanagan property)</a>
 </li>
  </ul></li>
+ <li><a href="propagation.html#pykep.stark_problem.tol">tol (pykep.stark_problem property)</a>
+</li>
  </ul></td>
 </tr></table>
 
 <h2 id="V">V</h2>
 <table style="width: 100%" class="indextable genindextable"><tr>
  <td style="width: 33%; vertical-align: top;"><ul>
  <li><a href="lambert.html#pykep.lambert_problem.v0">v0 (pykep.lambert_problem property)</a>
+</li>
+ <li><a href="lambert.html#pykep.lambert_problem.v1">v1 (pykep.lambert_problem property)</a>
 </li>
  </ul></td>
  <td style="width: 33%; vertical-align: top;"><ul>
- <li><a href="lambert.html#pykep.lambert_problem.v1">v1 (pykep.lambert_problem property)</a>
+ <li><a href="propagation.html#pykep.stark_problem.veff">veff (pykep.stark_problem property)</a>
 </li>
  <li><a href="udpla.html#pykep.udpla.vsop2013">vsop2013 (class in pykep.udpla)</a>
 </li>

diff --git a/index.html b/index.html
@@ -170,6 +170,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -189,7 +190,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>
@@ -417,6 +419,7 @@ <h1>Welcome to pykep’s documentation!<a class="headerlink" href="#welcome-to-p
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html#keplerian-dynamics">Keplerian dynamics</a></li>
+<li class="toctree-l2"><a class="reference internal" href="propagation.html#non-keplerian-dynamics">Non-Keplerian dynamics</a></li>
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -438,7 +441,8 @@ <h1>Welcome to pykep’s documentation!<a class="headerlink" href="#welcome-to-p
 </ul>
 </li>
 <li class="toctree-l1"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </li>
 </ul>

diff --git a/lambert.html b/lambert.html
@@ -171,6 +171,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -190,7 +191,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>

diff --git a/leg.html b/leg.html
@@ -171,6 +171,7 @@
 <li class="toctree-l2"><a class="reference internal" href="plot.html">The plot module</a></li>
 <li class="toctree-l2"><a class="reference internal" href="propagation.html">Numerical Propagation</a></li>
 
+
 <li class="toctree-l2"><a class="reference internal" href="udpla.html">List of user implemented planets (UDPLAs)</a></li>
 <li class="toctree-l2"><a class="reference internal" href="trajopt.html">Trajectory Optimization</a></li>
 </ul>
@@ -190,7 +191,8 @@
 </ul>
 </details></li>
 <li class="toctree-l1 has-children"><a class="reference internal" href="tut_trajopt.html">Trajectory Optimization</a><details><summary><span class="toctree-toggle" role="presentation"><i class="fa-solid fa-chevron-down"></i></span></summary><ul>
-<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust transfer</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_point2point.html">Point to point low-thrust</a></li>
+<li class="toctree-l2"><a class="reference internal" href="notebooks/udp_pl2pl.html">Planet to planet low-thrust</a></li>
 </ul>
 </details></li>
 </ul>