Nonlinear MPC example in Matlab

Hi everyone,

I’ve been working on implementing a nonlinear model predictive controller (MPC) for my drone dynamics system carrying a payload in Matlab with the built-in solver. Now, I want to switch to acados for faster computation time. Unfortunately, I couldn’t find any nonlinear MPC examples for acados. Could you provide me with some examples to help me start redesigning my controller and system using casadi acados? I only found a linear MPC example for a drone in the examples folder.

Thanks in advance for your help! :slight_smile:

Hi Reza,

there really is no difference in setting up a linear MPC vs nonlinear MPC problem with acados. Also you can find plenty of nonlinear examples in the examples folder.

Best, Katrin