Dynamic optimization with CasADi
We demonstrate how CasADi, a recently devel- oped, free, open-source, general purpose software tool for nonlinear optimization, can be used for dynamic optimization in a flexible, interactive and numerically efficient way. CasADi is best described as a minimalistic computer al- gebra system (CAS) implementing automatic differentiation (AD) in eight different flavors. Similar to algebraic modeling