Optirol

Optirol is software for optimal control of nonlinear systems, which can be described by ordinary differential equations. I wrote it during my external Ph.D. studies and is freely available (SharpGL is part of it and is delivered as DLL under MIT license). It was written in C# and runs on Windows.

First, I came up with algorithm which is based on subdivision algorithm:

• P. Taraba: Subdivision algorithm for optimal control, International Journal of Robust and Nonlinear Control, John Wiley & Sons, Ltd., March 2012

And then I realized I can do it faster and even estimate the error:

• P. Taraba: Optimal Control Mesh, Proceedings of the World Congress on Engineering and Computer Science, IAENG, October 2012

The software Optirol provides automatically setting files for three different systems:

• Dubins path (convexed Reeds-Shepp model)
• DC to DC converter
• Inverted pendulum (with simple and more advanced optimization function)

Software contains three different screens:

Settings screen

Results Screen

Simulations Screen

It can be downloaded from these websites:

• dropbox
• tucows
• cnet
• zdnet

Or if you want the code for VS 2019, go to github for Optirol.

Finally, the algorithm got into my Ph.D. thesis as a chapter:

• P. Taraba: Optimal Control for Nonlinear Systems, Ph.D. Thesis (chapter), Slovak University of Technology, February 2013

Enjoy free C# software!
[Original website for Optirol project was http://www.optirol.com and is now redirected here]