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Integration of CasADi and

  • Joel Andersson
  • Johan Åkesson
  • 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
  • LCCC-lup-obsolete

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