Example of the implementation of the SCQP method using the lin operator

An example of the implementation of the SCQP method using the lin operator is included in the MAIN_example.py file. This file details an optimal control problem involving an inverted pendulum, solved with the sequential convex quadratic programming (SCQP) method, and is based on the example presented in the publication: R. Verschueren, N. van Duijkeren, R. Quirynen, M. Diehl, Moritz, "Exploiting Convexity in Direct Optimal Control: A Sequential Convex Quadratic Programming Method," Proceedings of the 2016 Conference on Decision and Control, 2016, pp. 1099 - 1104.
The source code of the proposed lin operator is included in the lin.py file. The user must have Python 3 and CasADi version 3.5.5 (latest stable version) installed in order to use this script. This script may be used within any implementation, toolbox or library that is based on CasADi expressions.

MAIN_example.py 文件中包含了采用 lin 算子（lin operator）实现序列凸二次规划（sequential convex quadratic programming，SCQP）方法的示例代码。该示例详细介绍了一个倒立摆最优控制问题，并通过序列凸二次规划方法进行求解，其原型源自如下发表文献：R. Verschueren、N. van Duijkeren、R. Quirynen、M. Diehl、Moritz，"Exploiting Convexity in Direct Optimal Control: A Sequential Convex Quadratic Programming Method"，收录于2016年控制与决策会议论文集，2016年，第1099-1104页。所提出的 lin 算子的源代码收录于 lin.py 文件中。用户需预先安装 Python 3 与 CasADi 3.5.5 版本（当前最新稳定版），方可运行该脚本。本脚本可在任何基于 CasADi 表达式的实现、工具箱或库中使用。