A direct multiple shooting method for solving parameter identification and optimal control problems in systems of differential-algebraic equations

Problem Class

optimal control and parameter identification problems in systems of differential-algebraic equations, boundary value problems, control and state constraints

Numerical Method

direct multiple shooting method (piecewise polynomial parameterization of the control variables with SQP and generalized Gauß-Newton method)

Programming Language

FORTRAN 77 (90%) and ANSI C (10%)

Interface Provided

a stand-alone program, input/output by files and problem dependent subroutines, visualization of computed trajectories

Examples of Applications

parameter identification in chemical reaction systems and mechanical multibody systems (robots, vehicles), robot trajectory optimization

More Information

references, documentation, user's guide, source code

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