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

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