Hi alltogether,

I am new to acados and trying to set up my first running example. I would like to use a linear least squares term and provide a time varying reference y_ref similar to:

http://acado.sourceforge.net/matlab/doc/html/matlab/acado/packages/+acado/@OCP/minimizeLSQ.html

I checked all the matlab examples, but I could not find an example as all of them use a constant y_ref over the horizon. Also all my tries where not successful.

Do you know how to provide a time varying reference?

Thanks a lot!