liftedCollocation

MATLAB simulation scripts liftedCollocation: Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit. This repository contains supporting material for the paper: ”Lifted Collocation Integrators for Direct Optimal Control in ACADO Toolkit”. The code allows one to reconstruct the presented numerical results for the optimal control of a chain of masses. The numerical results have been obtained using the open-source ACADO code generation tool on a standard computer, equipped with Intel i7-3720QM processor, and using a 64-bit version of Ubuntu 14.04 and the g++ compiler version 4.8.4.