Optimal control (OC) methods for RF pulse design are useful in cases where the small-tip angle (STA) approximation is violated. Furthermore, designs with physically meaningful constraints (e.g., RF peak amplitude and integrated power) eliminate the need for parameter tuning to create realizable pulses. In this abstract we introduce a constrained fast OC method that easily generalizes to a variety of RF pulse designs. We demonstrate with examples of SMS and spectral prewinding pulses in simulation and in vivo. The constrained fast OC method guarantees that RF pulses will meet physical constraints while outperforming their non-OC counterparts.