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 (Verschueren et al. 2022)

GPOPS-II Matlab

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

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References

Verschueren, Robin, Gianluca Frison, Dimitris Kouzoupis, Jonathan Frey, Niels van Duijkeren, Andrea Zanelli, Branimir Novoselnik, Thivaharan Albin, Rien Quirynen, and Moritz Diehl. 2022. “Acados—a Modular Open-Source Framework for Fast Embedded Optimal Control.” Mathematical Programming Computation 14 (1): 147–83. https://doi.org/10.1007/s12532-021-00208-8.