# setupSolver

Creates a solver for the optimal control problem.

## Contents

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

## Syntax

obj = setupSolver(obj,X,U)

## Description

This function creates a solver for the optimal control problem using CasADi's [2] `'ipopt'` plugin, which provides an interface to IPOPT [1].

## Input Arguments

obj | instance of class optimalControl
X | set of admissible states (class: polytope)
U | set of admissible control inputs (class:polytope)

## Output Arguments

obj | updated instance of class optimalControl

## See Also

`optimalControl`

## References

[1] A. Wächter and L. T. Biegler, 'On the Implementation of a Primal-Dual Interior Point Filter Line Search Algorithm for Large-Scale Nonlinear Programming', Mathematical Programming 106(1), pp. 25-57, 2006 [2] J. A. E. Andersson et al., 'CasADi – A software framework for nonlinear optimization and optimal control', Mathematical Programming Computation, vol. 11, no. 1, pp. 1–36, 2019.

© 2018-2026 I6 Technische Universität München `•` Website `•` License