This repository contains the code corresponding to the publication
Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets
by
Andrea Zanelli, Jonathan Frey, Florian Messerer, Moritz Diehl
An efficient and customizable implementation of zoRO in acados is presented in:
Efficient Zero-Order Robust Optimization for Real-Time Model Predictive Control with acados J. Frey, Y. Gao, F. Messerer, A. Lahr, M. N Zeilinger, M. Diehl Proceedings of the European Control Conference (ECC) (2024)