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Open Optimal Control Library

Get started - Tutorial - API Docs

The Open Optimal Control Library is a toolbox for Matlab/Octave that facilitates modelling and formulation of (parametric) optimal control problems. It interfaces Ipopt [1] to numerically solve the optimal control problems and CasADi [2] to automatically calcuate the necessary derivatives by algorithmic differentiation.

Quick start

Go the getting started section to download the toolbox, visit the tutorial, or go straight to the examples!



Performance Assessment of a Rigid Wing Airborne Wind Energy Pumping System
G. Licitra, J. Koenemann, A. Buerger, P. Williams, R. Ruiterkamp, M. Diehl
In Energy The International Journal, Elsevier, 2018 (submitted to)

OpenAWE: An Open Source Toolbox for the Optimization of AWE Flight Trajectories
J. Koenemann, G. Licitra, S. Sieberling, M. Diehl
In Airborne Wind Energy Conference, Freiburg, 2017

Modeling of an Airborne Wind Energy System with a Flexible Tether Model for the Optimization of Landing Trajectories
J. Koenemann, P. Williams, S. Sieberling, M. Diehl
IFAC 2017 World Congress, Toulouse, France. 9-14 July, 2017

Viability Assessment of a Rigid Wing Airborne Wind Energy Pumping System
G. Licitra, J. Koenemann, G. Horn, P. Williams, R. Ruiterkamp, M. Diehl
In: 21st International Conference on Process Control (PC), 2017


[1] On the Implementation of a Primal-Dual Interior Point Filter Line Search Algorithm for Large-Scale Nonlinear Programming
A. W├Ąchter, L.T. Biegler
Mathematical Programming 106 (2006) 25-57, Available at:

[2] CasADi - A software framework for nonlinear optimization and optimal control
J.A.E. Andersson, J. Gillis, G. Horn, J.B. Rawlings, M. Diehl
Mathematical Programming Computation, In Press, 2018, Available at:


Jonas.Koenemann [at]

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