Hi,

I am working on transferring an OCP from Casadi to Acados using the Python interface and was wondering if its in any way possible to implement rate constraints and rate costs. My this i mean e.g. having constraint on my input rate or adding x_dot to my objective. A trivial way to do this in Casadi would be to add a constraint/objective term with the difference between two consequative inputs or state variables e.g. u_{k+1} - u{k}. Is there a way to add such a cost/constraint in Acados? It seems to me like each stage cost is completely separate from each other, making this impossible, is this indeed the case?

I know this could be achieved by augmenting the dynamics or adding the dynamics function as x_dot in the cost function / path constraints, but that would increase the number of variables or complicate the NLP a lot, so it would not be ideal.

Any help greatly appreciated, cheers!

Martin