acados is a great tool, that I am using for my research project where I am implementing a building heating controller that is able to achieve certain optimization goals. I have been following the discussions in this forum for some time and I also found some posts very helpful . However, I have observed that most topics are adressing the tool itself and not MPC in general. In this topic I would like to talk about an unusual approach.
I have been thinking about a two staged controller and I would like to know your opionion on that.
The idea is, that one solves a first optimal control problem (ocp1) and uses the optimal control trajectory of ocp1 as a parameter vector for the second optimal control problem (ocp2).
What would the use case look like?
One can use weather forecasts as an input to ocp1 to predict a building’s heating demand. Let us assume that the building is equiped with a thermal storage and that energy costs are time varying. In this case the solution of ocp2 would tell how to load the thermal storage cost efficiently so that the heating demand determinded by ocp1 can be met.
What do you think? Is this approach worth a try? Another approach could be to expand the system’s differential equation and solve a single ocp.