OpenOCL - Open Optimal Control Library

Optimal Control toolbox for Matlab. Software for trajectory optimization and Model-predictive control (MPC).

Optimal Control allows you to formulate control problems (control theory) as mathematical optimization problems. OpenOCL provides a modeling language that helps to implement optimal control problems. It implements direct collocations methods, and interfaces CasADi and ipopt to solve a non-linear program. Alternatively the new (work in progress) interface to acados can be used.

Features:
- Automatic differentiation through CasADi
- Multi-stage problems
- Matrix-valued variables
- Access all variables by their name (no indexing required)
- Plotting of initial guess, intermediate steps, and solution
- Dependencies (acados, CasADi) will be resolved automatically on first startup

Main developer:
Jonas Koenemann, https://github.com/jkoendev

Copyright 2019, 2020 Jonas Koenemann, Moritz Diehl, University of Freiburg
Redistribution is permitted under the 3-Clause BSD License terms. Please
ensure the above copyright notice is visible in any derived work

https://openocl.github.io/
https://github.com/jkoendev
https://github.com/OpenOCL/OpenOCL