Open Optimal Control Library for Matlab and Octave. The front-end to optimal control.
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Open Optimal Control Library

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

Visit the main website to download the toolbox, go through the tutorial, and have a look API Docs and the examples.

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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. Wächter, 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:

Legal notice

Please see license information in the LICENSE file in the github project.

Open Optimal Control Library Copyright (C) 2016-2019 Jonas Koenemann (Jonas.Koenemann [at]

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with this program. If not, see

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Sklodowska-Curie grant agreement No 642682.

Use without warranty.

Jonas Koenemann
Jonas.Koenemann [at]