Genc Yavuz

Hello Krysten, could you share the solution of your Simple GRAMPC Example? This would be very helpful. Best regards, Genc Yavuz

Dear Andreas, I have discovered that the lfct function is called often, depending on the parameters Nhor, T and dt. Also I have varying x values at every lfct call. How exactly does this work? Is lfct called at every step dt and thereby the cost function over the horizon T is evaluated stepwise? Is this the internal discretization that is done in the algorithm? This would mean that I would only have to incorporate the discrete reference points at the current timestep t+dt and not all the values along...

Dear Andreas Völz, First of all, thank you for the detailed explanation, they are very helpful and help understanding the time dependencies more. Now, if I want to incorporate an output y = f(x, u) into my cost function in order to follow an output reference ydes, in my understanding I can define ydes with userparam. Is it possible to define the output inside the function lfct, depending on x and u? Is there anything special, besides the "normal" structure of GRAMPC I need to be aware of? Also, in...

Hello, I am sorry for not answering, I have not worked on GRAMPC in the last weeks. The problem came up because I tried to give sth back to my Matlab code from the probfct definition by assigning it to userparam, what messed up the parameter structure. I still have some general questions about GRAMPC though. Despite reading every discussion on this page and reading the manual there are still some points I did not understand. In my understanding grampc.sol.xnext is the same as the first x in grampc.rws.x....

Hello, I have a problem with my weights and constraints that I am defining in userparam. I have very weird errors when initializing the OCP in Matlab. Sometimes x0 has wrong dimension, then PenaltyMin has an invalid value, although I have quadruple-checked these values and they are 100% correct. By comparing my current code to the code from earlier stages, I saw that the only difference is in the definition of userparam. In the newer version, I defined more values in userparam than in the older one....