Hey,

I’m using AcadosOcpSolver to solve a non-linear MPC problem and after the ocp is solved I gain a optimal trajectory of future states and inputs. But when I use current state and the optimal input to integrate with AcadosSimSolver, the integrator outputs a different result from the optimal trajectory produced by AcadosOcpSolver.

Both solvers use ‘ERK’, and the optimal inputs that AcadosOcpSolver produces seem to make sense. But the system dynamic is a little complex so it’s hard to examine if the optimal states make sense.

Can anyone tell me if this is because I generated a wrong model? Or there are some extra tricks when using AcadosSimSolver?

Thanks in advance for your support!