OPTEC - K.U.Leuven Center of Excellence: Optimization in Engineering

Boris Houska: "Solving Optimal Control Problems with ACADO Toolkit"

ACADO Toolkit is an open-source software environment and algorithm
collection for automatic control and dynamic optimization that is currently developed within OPTEC. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control and state/parameter estimation. ACADO Toolkit is implemented as self-contained C++ code providing a very user-friendly syntax for setting up optimal control problems. The object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines. In this talk we discuss several of ACADO Toolkit's key features and demonstrate how it can be used to solve optimal control problems. Also the underlying mathematical theory is briefly explained.

Hans Joachim Ferreau: "Using ACADO Toolkit for Parameter Estimation and Model Predictive Control"

Building on the introduction given by Boris Houska, this talk introduces
further functionality provided by ACADO Toolkit. We start with demonstrating how parameter estimation problems can be conveniently solved and briefly sketch the underlying Gauss-Newton SQP method that is employed by ACADO Toolkit. Besides its offline optimal control capabilities, ACADO Toolkit also provides a simulation environment to setup and test feedback controllers. We discuss how model predictive control problems can be formulated and show a couple of basic features to run closed-loop simulations.