NMPC with CasADi and Python – Part 1: ODE and steady state
April 17, 2020 2 comments Uncategorized nspo
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, a file describing the system equations and a script to determine a steady-state setpoint will be developed. This older post contains similar code for CasADi inside MATLAB.