# acadoConvertDynamics

Compute a zonotope approximating the inputs

## Contents

- Syntax
- Description
- Input Arguments
- See Also
- References

## Syntax

acadoConvertDynamics(path,Opts,benchmark)

## Description

Convert the dynamic equations describing the system to the format required for the ACADO toolbox for solving optimal control problems. The dynamic equations in the correct format are written to a file.

## Input Arguments

path | path to the root-folder of the Convex Interpolation Control Algorithm
Opts | structure containing user defined options for the algorithm
benchmark | name of the considered benchmark model

## See Also

`convexInterpolationControl`, `writeAcadoFiles`

## References

- [1] Schuermann et al. (2017), Convex interpolation control with formal guarantees for disturbed and constrained nonlinear systems

© 2018-2023 I6 Technische Universität München `•` Website `•` License