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COIN-OR's logo. Ipopt (Interior Point OPTimizer, pronounced eye-pea-Opt) is a software package for large-scale nonlinear optimization. It is written in Fortran and C and is released under the EPL (formerly CPL). IPOPT implements a primal-dual interior point method and uses line searches based on Filter methods (Fletcher and Leyffer). IPOPT can be called from various modelling environments and C. IPOPT is part of the COIN-OR project, which is a project that aims to 'create for mathematical software what the open literature is for mathematical theory'. It is designed to find (local) solutions of mathematical optimization problems of the form: min í µí±¥∈í µí± í µí±› í µí±“(í µí±¥) í µí± . í µí±¡. { í µí±” í µí°¿ ≤ í µí±”(í µí±¥) ≤ í µí±” í µí±ˆ í µí±¥ í µí°¿ ≤ í µí±¥ ≤ í µí±¥ í µí±ˆ

COIN-OR's logo. Ipopt (Interior Point OPTimizer, pronounced eye-pea-Opt) is a software package for large-scale nonlinear optimization. It is written in Fortran and C and is released under the EPL (formerly CPL). IPOPT implements a primal-dual interior point method and uses line searches based on Filter methods (Fletcher and Leyffer). IPOPT can be called from various modelling environments and C. IPOPT is part of the COIN-OR project, which is a project that aims to 'create for mathematical software what the open literature is for mathematical theory'. It is designed to find (local) solutions of mathematical optimization problems of the form: min í µí±¥∈í µí± í µí±› í µí±“(í µí±¥) í µí± . í µí±¡. { í µí±” í µí°¿ ≤ í µí±”(í µí±¥) ≤ í µí±” í µí±ˆ í µí±¥ í µí°¿ ≤ í µí±¥ ≤ í µí±¥ í µí±ˆ

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Figure 1-1. Cart-pole system.
Figure 1-5. Segway's analogy.
Figure 1-6. Physical implementation of the previous project.
Figure 3-3. Developer kit module and carrier boards: front and rear views.
+30 Figure 3-4. Developer kit carrier boards: rev A02 top view.
End of Master's Project Implementation of a control algorithm for a self-balancing robot in Julia in a Jetson Nano
Thesis
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  • Dec 2020
This text will drive the reader through the process of developing a programme which will control an inverted pendulum-like robot in its steady stable position, which is facing the pendulum upwards. In addition, this thesis intends to introduce the reader to Julia—a fast programming language specifically focused on mathematical development—and the J...
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