I am solving optimal control problems where I need to calculate the D or differentiation matrix, it is full of derivartives of Lagrange Polynomials . This matrix is also a function of the final time (
tf, which is a design variable within the optimization). My first attempt (F2) to calculate this matrix was to modify this function (F1) for JuMP by creating many
@NLexpression()s. The output for
F2 match perfectly until the final time is small
tf < 0.1 I am not sure why this is. Could it be a simplification that
@NLexpression() is making?
Anyways, after all of this I decided that there must be a better way to accomplish my goal. What (I think) I need to do is generate an analytical expression of the
D matrix in terms of
tf before optimization. Then, during optimization, I can use the elements of the D matrix (which will be functions of
tf) in an
@NLconstraint() current code.
Any suggestions or thoughts ? It seems that automatic differentiation may not work for my case since I don’t know
tf before optimization. I was thinking about using Calculus.jl, but I am not sure if that will be waisting more of my time (if there is a better package or better way to do this). Also, I was thinking about registering the functions of
tf in the
D matrix using JuMP, but I am very concerned with speed and since the registering functionality uses ForwardDiff I am not sure if it will be fast enough.
Thank you very much!