Hi @FreyJo,
is this info still up to date? I searched the acados directory for the error message and couldn’t find it like that anymore, just for external costs.
My problem is that I want to control not a state but a performance output based on the states. (PO is a torque, states are torsions and rotary speeds of a drivetrain). Doing the calculation based on the states and writing that into y / y_e would be my goto based on what I see in the examples (haven’t tested it yet), but for the linear cost function I would need to neglect the nonlinear aspects in order to squeeze it into the linear cost term.
My goal is to simulate/test it in Simulink and finally run it on an ECU to see how it performs.
Cheers,
Dennis