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.

在MAIN_example.py文件中包含了SCQP方法的实现示例，该文件详述了一个涉及倒立摆的优化控制问题，并使用序列凸二次规划（SCQP）方法进行求解。此方法基于以下出版物中的示例：R. Verschueren, N. van Duijkeren, R. Quirynen, M. Diehl, Moritz所著，《利用凸性进行直接最优控制：序列凸二次规划方法》，2016年决策与控制会议论文集，2016年，第1099-1104页。所提出的lin算子的源代码包含在lin.py文件中。用户必须安装Python 3及CasADi版本3.5.5（最新稳定版）才能使用此脚本。此脚本可在任何基于CasADi表达式的实现、工具箱或库中使用。