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ACADO toolkit—An open-source framework for automatic control and dynamic optimization

Authors

  • Boris Houska,

    Corresponding author
    1. Electrical Engineering Department (ESAT) and Optimization in Engineering Center (OPTEC), K.U. Leuven, Kasteelpark Arenberg 10, 3001 Leuven, Belgium
    • Electrical Engineering Department (ESAT) and Optimization in Engineering Center (OPTEC), K.U. Leuven, Kasteelpark Arenberg 10, 3001 Leuven, Belgium
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  • Hans Joachim Ferreau,

    1. Electrical Engineering Department (ESAT) and Optimization in Engineering Center (OPTEC), K.U. Leuven, Kasteelpark Arenberg 10, 3001 Leuven, Belgium
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  • Moritz Diehl

    1. Electrical Engineering Department (ESAT) and Optimization in Engineering Center (OPTEC), K.U. Leuven, Kasteelpark Arenberg 10, 3001 Leuven, Belgium
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Abstract

In this paper the software environment and algorithm collection ACADO Toolkit is presented, which implements tools for automatic control and dynamic optimization. It provides a general framework for using a great variety of algorithms for direct optimal control, including model predictive control as well as state and parameter estimation. The ACADO Toolkit is implemented as a self-contained C++ code, while the object-oriented design allows for convenient coupling of existing optimization packages and for extending it with user-written optimization routines. We discuss details of the software design of the ACADO Toolkit 1.0 and describe its main software modules. Along with that we highlight a couple of algorithmic features, in particular its functionality to handle symbolic expressions. The user-friendly syntax of the ACADO Toolkit to set up optimization problems is illustrated with two tutorial examples: an optimal control and a parameter estimation problem. Copyright © 2010 John Wiley & Sons, Ltd.

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