Parallel Multiple-Shooting and Collocation Optimization with OpenModelica
Bernhard Bachmann, Lennart Ochel, Vitalij Ruge, Mahder Gebremedhin, Peter Fritzson, Vaheed Nezhadali, Lars Eriksson, Martin Sivertsson · Linköping electronic conference proceedings · 2012
Nonlinear model predictive control (NMPC) has become increasingly important for today's control engineers during the last decade.In order to apply NMPC a nonlinear optimal control problem (NOCP) must be solved which in general needs high computational effort.State-of-the-art solution algorithms are based on multiple shooting or collocation algorithms, which are required to solve the underlying dynamic model formu-