Linear Dynamics with Matrices as Parameters

User Questions
1

Hi,

I’m working on an optimization project, and it would be great if I can use ACADOS for my project (I’m using Python Interface)

I want to perform optimization on:

X_dot = A(t) + B(t)*u(t)

where A(t) and B(t) are non-constant variables which is not a function of state, but known in advance. This is not usual state-space equation, and I want to optimize u(t) based on some cost function and constraints.

It is my understanding that for ACADOS, I must define the dynamics (f_expl_expr). So, basically, what I want to do is to pass pre-computed arrays of A(t) and B(t) over prediction horizon to the solver at every optimization step.

Can such formulation possible with ACADOS? Any help would be greatly appreciated

Regards,

Steve

2

Hi,

you can use the DISCRETE dynamics module and use parameters to change A, B
This example should help acados/example_ocp_dynamics_formulations.py at master · acados/acados · GitHub

Cheers!