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In this paper, we aim to minimize the epidemic size of tungiasis disease and economic costs simultaneously, with terminal demands for infected humans. A human–jigger parasite control system with four control schemes for humans and jiggers is established. We propose a multi-objective optimal control problem with terminal constraints, in which the accumulated number of infected humans and control costs are involved. By applying the modified normal boundary intersection algorithm and the interior point scheme, numerical simulations for different combinations of control schemes are carried out, and actual data in Madagascar are used. Effective combination schemes are indicated from the perspectives of disease eradication, cost saving and time saving. Once these effective combinations are properly performed, the disease can be controlled. When only minimizing the epidemic size, the combination of the optimal treatments and adulticiding efforts is the best choice in the rainy season; the combination of the optimal personal protections and treatments is the preferential option in the dry season. When only minimizing the economical cost, the combination of the optimal adulticide and larvicide is the better selection in the rainy season; the combination of the optimal personal protections, treatments and adulticiding efforts is the prior choose in the dry season. Thus, there is a trade-off between the two objectives for all the effective combinations, decision-makers may choose an appropriate one to control the disease. [ABSTRACT FROM AUTHOR]