Software

The methods studied in this chapter are already quite mature and well described. Software implementations exist. Here we enumerate some of them.

acados Implemented in C but interfaces exist for Matlab and Python FOSS [1]

GPOPS-II Matlab

rockit In Python, built on top of CasADi, interface to Matlab.

Back to top

References

[1]
R. Verschueren et al., “Acados—a modular open-source framework for fast embedded optimal control,” Mathematical Programming Computation, vol. 14, no. 1, pp. 147–183, Mar. 2022, doi: 10.1007/s12532-021-00208-8.