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Inverted Pendulum

Problem statement​

This example is incomplete and will be updated soon.

Before we start​

We will need to import the following libraries in Python:

import casadi.casadi as cs
import opengen as og
import matplotlib.pyplot as plt
import numpy as np

System dynamics​

Description coming soon....

Nonlinear MPC problem​

Description coming soon....

Code generation​

Code coming soon

Simulations​

Description coming soon....

Closed-loop trajectories​

Description coming soon....

Closed-loop simulation: states Closed-loop simulation: input

Solver statistics​

Description coming soon....