Significant progresses in developing approaches to dynamic optimization have been made. However, its practical implementation poses a difficult task and its realtime application such as in nonlinear model predictive control (NMPC) remains challenging. A
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Lazutkin, E., Hopfgarten, S., Geletu, A., & Li, P. (2015). A Toolchain for Solving Dynamic Optimization Problems Using Symbolic and Parallel Computing. In Proceedings of the 11th International Modelica Conference, Versailles, France, September 21-23, 2015 (Vol. 118, pp. 311–320). Linköping University Electronic Press. https://doi.org/10.3384/ecp15118311