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

Name: Example of the implementation of the SCQP method using the lin operator
Creator: Pipeleers, Goele; Decré, Wilm; Swevers, Jan; Diehl, Moritz; Gillis, Joris; Astudillo, Alejandro
Published: 2026-04-17T17:24:44+08:00

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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.

提供机构：

Pipeleers, Goele; Decré, Wilm; Swevers, Jan; Diehl, Moritz; Gillis, Joris; Astudillo, Alejandro

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

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