Toy NMPC problem miocp MUSCOD-II AMPL short = 2, <= 3; var t; var x := -0.5; var u >= -1.0, <= 1.0, := 0.0; let u.type := "u0"; var p := 1.0; minimize LagrangeObjective: integral (x^2 + u^2, tf); subject to ODE: diff(x,t) = (x + p) * x + u; SPC: eval(x,0) = -0.5; EPC: eval(x,tf) = 0.0; option muscod_options "atol=1E-6"; ]]> Toy Taco optimal control sample submission