setupSolver

Creates a solver for the optimal control problem.

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

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.

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