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Processes 2015, 3(2), 471-496;

Dynamic Optimization in

Department of Automatic Control, Lund University, SE-221 00 Lund, Sweden
Modelon AB, Ideon Science Park, SE-223 70 Lund, Sweden
This paper is an extended version of our paper published in Proceedings of the 9th International Modelica Conference, Munich, Germany, 3–5 September 2012, Collocation Methods for Optimization in a Modelica Environment.
Author to whom correspondence should be addressed.
Academic Editor: Carl D. Laird
Received: 13 April 2015 / Revised: 30 May 2015 / Accepted: 10 June 2015 / Published: 19 June 2015
(This article belongs to the Special Issue Algorithms and Applications in Dynamic Optimization)
Full-Text   |   PDF [443 KB, uploaded 19 June 2015]


We present the open-source software framework in for numerically solving large-scale dynamic optimization problems. The framework solves problems whose dynamic systems are described in Modelica, an open modeling language supported by several different tools. The framework implements a numerical method based on direct local collocation, of which the details are presented. The implementation uses the open-source third-party software package CasADi to construct the nonlinear program in order to efficiently obtain derivative information using algorithmic differentiation. The framework is interfaced with the numerical optimizers IPOPT and WORHP for finding local optima of the optimization problem after discretization. We provide an illustrative example based on the Van der Pol oscillator of how the framework is used. We also present results for an industrially relevant problem regarding optimal control of a distillation column. View Full-Text
Keywords: dynamic optimization; optimization software; collocation methods; differential-algebraic equations; Modelica; nonlinear programming dynamic optimization; optimization software; collocation methods; differential-algebraic equations; Modelica; nonlinear programming
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited (CC BY 4.0).

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Magnusson, F.; Åkesson, J. Dynamic Optimization in Processes 2015, 3, 471-496.

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