Hello there,

I am a student from Slovak University of Technology and I would like to kindly ask you for your help.

My goal is to implement NMPC on a laboratory inverted pendulum system and I was recommended to use the acados package. I have already successfully implemented embedded linear MPC (using qpOASES) on a STM32F4 platform, featuring a swing-up algorithm. Now, I would like to use the full non-linear model and replace the existing control scheme with NMPC.

I was browsing the github examples, but it is still unclear to me where to start and what is the procedure to obtain the solver code, which I can include then into my main file. Could you please give me some guidance or provide a minimal working example of the procedure?

Thank you and have a nice day,

Kulho.