# Category:ODE model

This category includes all problems constrained by the solution of ordinary differential equations (ODE). In particular, no algebraic variables and derivatives with respect to one independent variable only (typically time) are present in the model equations for $F(\cdot)$.

The mixed-integer optimal control problem is of the form

$\begin{array}{llcl} \displaystyle \min_{x(\cdot), u(\cdot), v(\cdot), q, \rho} & \phi(x(t_f), q, \rho) \\[1.5ex] \mbox{s.t.} & \dot{x}(t) & = & f(x(t), u(t), v(t), q, \rho), \\ & 0 &\le& c(x(t),u(t),v(t), q, \rho), \\[1.5ex] & 0 &=& r^{\text{eq}}(x(t_0),x(t_1), \dots, x(t_m), q, \rho), \\ & 0 &\le& r^{\text{ieq}}(x(t_0),x(t_1), \dots, x(t_m), q, \rho), \\[1.5ex] & v(t) &\in& \Omega := \{v^1, v^2, \dots, v^{n_\omega} \},\\ & \rho &\in& \Rho := \{\rho^1, \rho^2, \dots, \rho^{n_\Rho} \}, \end{array}$

for $t \in [t_0, t_f]$ almost everywhere.

$x(\cdot)$ denotes the differential states, $u(\cdot)$ denotes the continuous control functions, $v(\cdot)$ denotes the integer control functions, $q$ denotes the continuous (constant-in-time) control values, $\rho$ denotes the integer (constant-in-time) control values.

The multipoint constraints $r^\cdot(\cdot)$ are defined on a time grid $t_0 \le t_1 \le \dots \le t_m = t_f$. The Mayer term functional $\phi: \mathbb{R}^{n_x + n_q} \rightarrow \mathbb{R}$, the path- and control constraints $c: \mathbb{R}^{n_x \times n_u + n_v + n_q} \rightarrow \mathbb{R}^{n_c}$ and the constraint functions $r^\cdot: \mathbb{R}^{(m+1) n_x + n_q} \rightarrow \mathbb{R}^{n_{r\cdot}}$ are assumed to be sufficiently often differentiable.

The equality constraints $r^{\text{eq}}(\cdot)$ will often fix the initial values, i.e., $x(0) = x_0$, or impose a periodicity constraint.

## Extensions

Note that a Lagrange term $\int_{t_0}^{t_f} L( x(t), u(t), v(t), q, \rho) \; \mathrm{d} t$ can be transformed into a Mayer-type objective functional.

## Subcategories

This category has only the following subcategory.

## Pages in category "ODE model"

The following 44 pages are in this category, out of 44 total.