Hi everyone,

I was wondering if acados takes only the continuous time cost as definition specified in the release notes of the latest version. If so could you please elaborate on how this cost is formulated? Currently, I have LL cost in discrete time and maybe have to covert it into continuous time if such is the case.

I am working on reference tracking problem and using “SQP_RTI” solver in acados. What is the linearization trajectory used by acados in this case? Does it take reference trajectory as linearization trajectory? Can I specify linearization trajectory separately?

Assuming that it takes reference trajectory as linearization trajectory, I get totally different result in Matlab SQP RTI implementation than acados. Note that, In Matlab I use reference trajectory as linearization trajectory.

However the result of SQP (fully converged solution) solver is similar to SQP (fully converged) solution of Matlab but not exact.

Regards,

Jay