Pavel Otta: Short tutorial on nonlinear MPC and CasADi software

Regular Friday Control Theory Seminar. Starts at 2pm at K14 room, duration: 60 minutes. Pavel has just returned from a few-day tutorial workshop on Nonlinear Model Predictive Control organized by prof. Moritz Diehl at University of Freiburg. Prof. Diehl is one of the leading researchers in the field of numerical optimal control, see the web of his Systems Control and Optimization group. The group may be known due to popular software packages like qpOASES and qpDUNES aiming at solving quadratic programming, or ACADO and CasADi used mostly for solving of nonlinear model predictive control (NMPC) problems. This seminar will contain the following leafs: an informal description of the research profile of Moritz Diehl's group, informal intro to the numerical solution of NMPC and finally, demonstration how the NMPC problem can be solved with CasADi software.