Hi dear researchers,
I am currently implementing direct collocation NMPC,
However, I have a doubt on the control value for the first control u_0
that should be applied to the system once the control trajectory is found as collocation downsamples the system dynamics before solving the dynamic NLP problem.
will the control value u_0 be (u*(0)+u*(1))/2?
x_k+1 = f(x_k,u_0);
Should this be the case, will that not have a detrimental effect in the accuracy of the true control?
Kind regards