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TOMLAB /SOCS
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The TOMLAB /SOCS toolbox integrates Boeing's SOCS (The Sparse Optimal Control Software Family) for use in MATLAB. SOCS is a general purpose tool for solving optimal control problems.
Features and capabilities
| Automatic Mesh Refinement - Mesh points and discretization method are automatically chosen to satisfy user-specified solution accuracy. |
| Alternate Discretizations - Ten different discretization methods are available including Euler, Trapezoidal, Explicit Runge-Kutta, Hermite-Simpson, Linear multistep, and analytic propagation. |
| Spline Solution - The optimal solution (state and control) are represented as cubic B-splines, for easy interpolation and plotting. |
| Direct Method - It is not necessary to derive adjoint equations for most applications. |
| Indirect Method - If adjoint equations are available, SOCS can be used to solve the (multipoint) boundary value problem. |
| Path Equality and Inequality Constraints - SOCS accommodates general path constraints and does not require an a prior guess for constrained subarcs. |
| Automatic Sparsity Determination - The user does not need to define Jacobian and Hessian sparsity. |
| Right-Hand Side Sparsity - The sparsity of the user-specified differential (and algebraic) equations is automatically computed. This permits applications with hundreds of ODEs, including applications defined by partial differential equations. |
| Sparse Finite Difference Derivatives - SOCS automatically constructs the first and second derivatives for the user's application. |
| Flexible Application Interface - User provides software to evaluate the differential equations, path constraints and boundary conditions. SOCS does the rest! |
| Multiple Phases - SOCS can be applied to applications with multiple phases and/or paths. |
Diverse Applicability - SOCS has been successfully applied to the following problems:
| - Aerospace trajectory design. |
| - Robot and machine tool path design. |
| - Chemical process control. |
| - Distributed parameter control of partial differential equations (PDEs). |
| - Chaotic differential equations. |
| - Delay differential equations. |
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Nonlinear Parameter Estimation - permits solution of "inverse problems" involving measurement data at discrete time points. Its applications include:
| - Orbit determination |
| - Trajectory Reconstruction |
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SOCS can be licensed with the following solver options. One option required:
- TOMLAB /BARNLP (Primal-dual interior point algorithm, in conjunction with a filter method for globalization.)
- TOMLAB /SPRNLP (SQP method, using an augmented Lagrangian merit function and safeguarded line search.)
- TOMLAB /BARNLP + /SPRNLP (Both solvers)
User features and functionality for improvement of utility and robustness
| Function Error Flag - The user must supply procedures to compute the problem functions. When it is not possible to compute the functions (e.g., c(x)=ln(x) for x0), the user can set a function error flag that will cause the algorithms to respond without aborting. |
| User Can Select Many Parameters - All algorithms in the family have extensive flexibility and use a common input utility for optional parameters. However, the algorithms are easy to use because default values are set for every optional input. |
Diagnostic Output - Extensive diagnostic output can be obtained from all modules in the software family, including:
| - NLP line search. |
| - Matrix sparsity patterns. |
| - Finite Difference Gradient/Hessian. |
| - QP iteration histories. |
| - Linear algebra operations. |
| - Optimal control mesh refinement. |
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| Error Checking - All software performs extensive checks on the user input. |
Requirements
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