What is Reddit's opinion of Nonlinear Programming: Concepts, Algorithms, and Applications to Chemical Processes (MPS-SIAM Series on Optimization, Series Number 10)?

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Check out this one :

https://www.amazon.com/Nonlinear-Programming-Algorithms-Applications-Optimization/dp/0898717027

It covers the numerical aspects of (Nonlinear) MPC.

Be aware that the transcription of an optimal control problem to a nonlinear programming problem can be achieved in three ways : single-shooting (easiest method to implement but less efficient numerical speaking), multiple-shooting (harder to implement but much more efficient) and collocation (hardest to implement/understand but most efficient one).

Also, check out CasADi (https://web.casadi.org/ and https://groups.google.com/g/casadi-users) and the different courses available online (http://www.syscop.de/teaching/ws2015/nocdae and https://www.syscop.de/event/tempo-spring-school/).

Good luck !