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Tried softplus function? It will the make the problem more nonlinear though |
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I am trying to do MPC with a neural network as the dynamic model with a ReLU activation Layer. There is no default ReLU function by CasADi and MATLAB's relu function and reluLayer. As a last resort, I used if_else(x> 0, x, 0); This makes the problem very difficult to solve. Is there a way to deal with the ReLU function in CasADi?
Side note: I also tried a network with Tanh activation. In this case, I used MATLAB's tanh function which apparently work fine with MX variable.
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