Hi

When integrating the dynamics in acados, how is the control input parameterized over a single time step? Do you assume zero-order hold, or linear interpolation, or something else?

Thanks!

Hi,

by default, we use piecewise constant control inputs on each shooting interval.

I am currently working on implementing more advanced control parametrizations in acados.

An example is already public here: acados/examples/acados_python/time_varying/piecewiese_polynomial_control_example.py at master ยท acados/acados ยท GitHub

Cheers!

1 Like

Is the control value at the end of one interval constrained to equal the control value at the start of the next interval?