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?
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 · acados/acados · GitHub
Is the control value at the end of one interval constrained to equal the control value at the start of the next interval?