Question: Two-point value boundary problem

Hello,

I have two regimes. Each regime is characterized by system of state differential equations (diff(S(t), t), diff(K(t), t)) and co-state differential equations (diff(psi[S](t), t), diff(psi[Iota](t), t)) as follows: 

(1)

diff(S(t), t) = -eta*K(t)*S(t)/(w*N*(S(t)+K(t))), diff(K(t), t) = eta*K(t)*S(t)/(w*N*(S(t)+K(t)))-upsilon

diff(psi[S](t), t) = eta*K(t)^2*(psi[S](t)-psi[Iota](t))/(w*N*(S(t)+K(t))^2), diff(psi[Iota](t), t) = eta*S(t)^2*(psi[S](t)-psi[Iota](t))/(w*N*(S(t)+K(t))^2)

(2)

diff(S(t), t) = -eta*K(t)*S(t)/(w*N*(S(t)+K(t))), diff(K(t), t) = eta*K(t)*S(t)/(w*N*(S(t)+K(t)))

diff(psi[S](t), t) = eta*K(t)^2*(psi[S](t)-psi[Iota](t))/(w*N*(S(t)+K(t))^2), diff(psi[Iota](t), t) = eta*S(t)^2*(psi[S](t)-psi[Iota](t))/(w*N*(S(t)+K(t))^2)

The first regime is employed from 0 to t1 (where t1 is unknown) and then regime 2, from t1 to T. I know the initial values for the state variables of the first system at t=0, that is, S(0)=S0 and K(0)=K0, as well as boundary conditions for the co-state variables for regime 2 at t=T, that is, psi_S(T)=a and psi_I(T)=b. 

I also know that my unknown t1 should satisfy the algebraic equation: -c - psi_S(t1)=0, where psi_S(t1) is the solution of the co-state diff equation of the regime 2 at t=t1. 

My question is: If I assume that the systems have not analytical solution, how can I found unknown t1 numerically? Moreover, asssume that all other parameters, such as T, eta, upsilon and others are given.