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Integration of CasADi and

  • Joel Andersson
  • Johan Åkesson (Assistant Professor)
  • Francesco Casella
  • Moritz Diehl
Publiceringsår: 2011
Språk: Engelska
Dokumenttyp: Konferensbidrag


This paper presents the integration of two open source softwares:
CasADi, which is a framework for efficient
evaluation of expressions and their derivatives, and the
Modelica-based platform The integration of the tools is
based on an XML format for exchange of DAE models. The
platform supports export of models in this XML format, wheras CasADi
supports import of models expressed in this format. Furthermore, we have carried out comparisons with
ACADO, which is a multiple shooting package for solving optimal control problems.

CasADi, in turn, has been interfaced with ACADO Toolkit, enabling users to
define optimal control problems using Modelica and Optimica
specifications, and use solve using direct multiple shooting. In addition, a collocation algorithm targeted at
solving large-scale DAE constrained dynamic optimization problems has
been implemented. This implementation explores CasADi's Python
and IPOPT interfaces, which offer a convenient, yet highly efficient environment for development
of optimization algorithms. The algorithms are evaluated using industrially relevant benchmark problems.



  • Control Engineering


8th International Modelica Conference 2011
Dresden, Germany
  • LCCC

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