Is there a way to benefit from closed form analytic solution of system dynamics when solving OCP?

[FreyJo]

Hi Max,

@maxkra

Was this referring to the initialization suggestion?

That, as well as what I wrote about timings was refering to acados. I somehow thought you already have an acados formulation…

Note that acados comes with its own integration methods. I never did a thorough comparison of acados vs CasADi integrators.
But it was reported that acados integrators can be “orders of magnitude faster than those available in casadi”, see Acados integrators in casadi

It might be that acados needs less function evaluations, I am really not sure what the CasADi integrators do internally and how you configured them.

Did you try to just simulate your DAE in acados yet?!
I hope this encourages you to try!

@maxkra

Is it because ACADOS solver will need by far less function evaluations? This seems to be case using the RTI scheme, where one would stop after the first iteration - but this only works for quadradic costs, right?

No, you can apply RTI for any cost function, afaik.

@maxkra

Is it because in my setting, using the Matlab Interface, the DAE evaluations (including the sensitivities) are just by far slower running in the virtual environment?

I am wondering why you are using a virtual environment…

Best,
Jonathan