Multistage MPC?


Is it possible to use time-varying dynamics and constraints along the MPC horizon with acados?
Like a multistage MPC ?

Hi Charles,

in C this is for sure possible, i.e. you can use a separate nonlinear function for every shooting node (cost constraints) / shooting node gap (dynamics).
In the high-level interfaces (Python, Matlab, Octave), it is only possible by setting different parameters for some shooting nodes.


is there an example where I can give different values of a parameter for different stages (matlab interface) ? For instance, to modify a constraint at different stages ?

Thank you,


Here is an example: