Tutorials

The best way for getting started with the ACADO Toolkit is to work through the online tutorials listed below.

Standard Optimal Control Problems

• A Guiding Example: Time Optimal Control of a Rocket Flight
• Initialization of Nonlinear Optimization Algorithms
• Algorithmic Options and Numerical Accuracy
• Storing the Results of Optimization Algorithms
• Optimal Control of Hybrid- and Multi-Stage Processes
• Optimization of Differential Algebraic Systems (DAEs)
• Optimal Control of Discrete-Time Systems

Multi-Objective Optimization/Optimal Control Problems

• Multi-Objective Optimal Control Problems (MOOCPs)
• Static Optimization Problem with Two Objectives
• Static Optimization Problem with Three Objectives
• Optimal control of a plug flow reactor with conflicting energy and conversion objectives

Parameter Estimation Problems

• A State and Parameter Estimation Tutorial

Model Predictive Control

• Setting-Up a Process for MPC Simulations
• Advanced Features for Simulating a Process
• Setting-Up an MPC Controller
• Setting-Up More Classical Feedback Controllers
• Performing a Basic Closed-Loop MPC Simulation

Low-Level Data Structures and Global Functionality

• Using Grids and VariablesGrids
• Plotting Results

Using the ACADO Integrators Stand-Alone

• Simulation of a Dynamic System
• Sensitivity Generation for Dynamic Systems

Using the ACADO Validated Integrators

• A Tutorial for the EllipsoidalIntegrator

Code Generation Tool

• Code Generation Tool: A Guiding Example
• Code Generation Tool: auto generated integrators