Hanging Chain NMPC problem miocp MUSCOD-II AMPL short = 0, <= 10; var L >= 0, <= 10; var E >= 0, <= 10; var u >= -10, <= 20 suffix type "u1"; param a := 1; param b := 3; param Lp := 4; minimize energy: eval(E,tf); subject to dx: diff(x,t) = u; dE: diff(E,t) = x*sqrt(1+u^2); dL: diff(L,t) = sqrt(1+u^2); x0: eval(x,0) = a; x1: eval(x,1) = b; E0: eval(E,0) = 0; L0: eval(L,0) = 0; L1: eval(L,1) = Lp; option muscod_options "itmax=10000"; ]]> Hanging Chain sample submission