ACADO toolkit

The best way for getting started with the ACADO Toolkit is to work through the online tutorials listed below; a user's manual will become available together with the first non-beta release. ACADO for Matlab users are refered to the ACADO for Matlab user manual and the Matlab examples.

• Standard Optimal Control Problems

  • A guiding example: time optimal rocket control
  • 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 (DAE)
  • Optimal control of discrete time systems

  
   
  

• Multi-Objective Optimization/Optimal Control Problems

  • Introduction to multi-objective optimization
  • 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 a 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

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ACADO Toolkit comes along with a manual in PDF format, which will only become available soon. However, in order to getting started with ACADO Toolkit, it is recommended to work through the online tutorials.

• Download ACADO Toolkit User's Manual:  PDF (2.1 MB) (last update: 17-06-2011)
• Download ACADO for Matlab User's Manual:  PDF (0.9 MB) (last update: 04-06-2010)
• ACADO Toolkit Introductory Talk:   PDF (3.5 MB)

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Major parts of the ACADO Toolkit source code are documented in way that is compatible with the doxygen documentation system. For generating a HTML version of the source code documentation, install doxygen and use the configuration file doc/doxygen.config  of your ACADO installation.

Alternatively, you can browse the ACADO Source Code Documentation online.

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There are several options available for ACADO users to help them debug their code.

• Inspecting IntermediateStates, DifferentialStates and Expressions

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