CasADi labs is an open-ended platform for *sharing knowledge* about CasADi. Any user can guest-post by making pull-requests to the blogging repo.

##### Breaking free of CasADi's solvers

Once you've modeled your optimization problem in CasADi, you don't have to stick to the solvers we interface. In this post, we briefly demonstrate how we can make CasADi and Matlab's fmincon cooperate. Trivial unconstrained problem Let's consider a very simple scalar unconstrained optimization: $$ \begin{align} \displaystyle \underset{x} {\text{minimize}}\quad & \sin(x)^2 \end{align} $$ You can solve this with fminunc: fminunc(@(x) sin(x)^2, 0.1) The first argument, an anonymous function, can contain any code, including CasADi code. Read more##### CasADi codegen and S-Functions

While the user guide does explain code-generation in full detail, it is handy to have a demonstration in a real environment like Matlab's S-functions. The problem We will design a Simulink block that implements a nonlinear mapping from ($\mathbf{R}^2$, $\mathbf{R}$) to ($\mathbf{R}$,$\mathbf{R}^2$): import casadi.* x = MX.sym('x',2); y = MX.sym('y'); w = dot(x,y*x); z = sin(x)+y+w; f = Function('f',{x,y},{w,z}); Code-generating You may generate code from this with: f.generate('f.c') However, we'll use the more advanced syntax since we have advanced requirements. Read more##### On the importance of NLP scaling

During my master's thesis at KULeuven on optimal control, one of the take-aways were that it's important to scale your variables. It helps convergence if the variables are in the order of 0.01 to 100.

Read more##### Optimal control problems in a nutshell

Optimization. There's a mathematical term that sounds familiar to the general public. Everyone can imagine engineers working hard to make your car run 1% more fuel-efficient, or to slightly increase profit margins for a chemical company.

Read more##### Easy NLP modeling in CasADi with Opti

Release 3.3.0 of CasADi introduced a compact syntax for NLP modeling, using a set of helper classes, collectively known as 'Opti stack'.

In this post, we briefly demonstrates this functionality.

Read more##### CasADi-driven MPC in Simulink (part 1)

CasADi is not a monolithic tool. We can easily couple it to other software to have more fun.
Today we'll be exploring a *simple* coupling with Simulink. We'll be showing off nonlinear MPC (NMPC).