Mickael Begon

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                                            Mickael Begon

Check for Conditioning of the problem

perhaps some ideas in : http://faculty.bscb.cornell.edu/~hooker/zebra_desc2.pdf

Optimal feedback control?

Can you add a reference?

Quaternion integration with IRK

https://link.springer.com/article/10.1007/s42405-018-0103-6

Raise an error when trying to change Acados integrator type with an OdeSolver class

IRK should be possible in Acados

Raise an error when trying to change Acados integrator type with an OdeSolver class

@aceglia did you solve this issue?