Question about Model Predictive Control (MPC) cost function

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Embedded Optimization nonlinear optimal Control

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  • acados

    Fast and embedded solvers for nonlinear optimal control

    • Generally, nonlinear MPC uses either IPOPT (an interior point method) or sequential quadtraic programming based approaches (google GURBOI, qpoases, qrqp...). A good python framework is CasADi, or its sister project ACADOS. I think there is also a fair amount of literature on learning MPC cost functions from data you could probably find.

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