Day: April 18, 2020

NMPC with CasADi and Python – Part 2: Simulation of an uncontrolled system

CasADi is a powerful open-source tool for nonlinear optimization. It can be used with MATLAB/Octave, Python, or C++, with the bulk of the available resources referencing the former two options. This post series is intended to show a possible method of developing a simulation for an example system controlled by Nonlinear Model Predictive Control (NMPC) using CasADi and Python.

In this post, we will try to simulate an uncontrolled system with a forward Euler and a 4th order Runge-Kutta integration method. The latter can be the base for future closed-loop simulations.

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