Pages = ["transcription.md"]
This page contains the documentation of the direct transcription methods used to
construct MovingHorizonEstimator, LinMPC and NonLinMPC types.
They represent ways to discretize the continuous-time optimal control or estimation problem
into a finite-dimensional quadratic (QP) or nonlinear program (NLP), which can then be
solved using an appropriate optimizer.
ModelPredictiveControl.TranscriptionMethod
SingleShooting
MultipleShooting
TrapezoidalCollocation
OrthogonalCollocation