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Efficient integrators with sensitivity propagation are an essentialingredient for the numerical solution of optimal control problems. This papergives an overview on the acados integrators, their Python interface andpresents a workflow that allows using them with their sensitivities within anonlinear programming (NLP) solver interfaced by CasADi. The implementation isdiscussed, demonstrated and provided as open-source software. The computationtimes of the proposed integrator and its sensitivity computation are comparedto the native CasADi collocation integrator, CVODES and IDAS on differentexamples. A speedup of one order of magnitude for simulation and of up to threeorders of magnitude for the forward sensitivity propagation is shown for anairborne wind energy system model.

Fast integrators with sensitivity propagation for use in CasADi