During my master’s thesis at KULeuven on optimal control, one of the take-aways were that it’s important to scale your variables. It helps convergence if the variables are in the order of 0.01 to 100.
Optimization. There’s a mathematical term that sounds familiar to the general public. Everyone can imagine engineers working hard to make your car run 1% more fuel-efficient, or to slightly increase profit margins for a chemical company. That sounds rather dull; an icing on the cake at best.
Release 3.2.3 of CasADi introduced a compact syntax for NLP modeling, using a set of helper classes, collectively known as ‘Opti stack’.
CasADi is not a monolithic tool. We can easily couple it to other software to have more fun. Today we’ll be exploring a simple coupling with Simulink. We’ll be showing off nonlinear MPC (NMPC).