An initial value optimal control problem with complementarity constraints. This benchmark was used for demonstration in this paper.
This is a simple MATLAB benchmark created under Ubuntu with the following prerequisits:
- Install CasADi for MATLAB (https://web.casadi.org/).
- Install the qpOASES 3.2.0 MATLAB interface (https://github.com/coin-or/qpOASES).
- Adjust the casadi path in the file
RunBenchmark.m. - Adjust the qpOASES MATLAB interface path in the file
RunBenchmark.m.
- A MATLAB implementation of the LCQP algorithm is given in the directory
LCQP. - The script
RunBenchmark.mcan be used to run the benchmark. - Afterwards, the function
CreatePerformancePlots.mcan be used to create performance plots regarding time and solution quality.