For starters, thank you for your efforts in developing this new tool.
I have used CasADi in the past, and currently using ACADO mainly for their RTI scheme.
One of the issues in ACADO was implementing dead time (or delay) in the system model.
This is due to the fact that ACADO requires a continuous ODE and doesn’t have low level access to the single states/controls per prediction step, unlike CasADi, which does.
Since ACADOS will be using CasADi formulation, will it be possible to implement dead time? It would be nice to have dedicated support for that. However, in CasADi it is possible to shift the states by the amount of delay to achieve that. Whereas in ACADO i had to approximate the system with a higher order differential equation.
If this is possible, this would be a strong argument for me to switch to ACADOS.
Also, i read that you are working on an RTI scheme similar to this of ACADO based on SQP? Would be interesting to know that dead time could be implemented for that as well.
Tamam Abou Al Fadel