Wiki needed

[lovedheart]

Hi. I have much interest in this implementation. But it's better to have a wiki about HPMPC. Thanks

[giaf]

Thanks for the interest. I am a bit busy at the moment writing my thesis, the wiki will come asap. Are you interested in control?

[lovedheart]

Yeah, I'm a student studying control theory. I'm doing a project which compares the different opensource qp solver and I wanna to choose one for solving QP problem of large-scale system. Is HPMPC suitable for that?.

[giaf]

It depends on what you mean by large-scale. HPMPC is optimized for dense small-scale MPC problems, and the performance is close to optimal for dense problems with up to a couple of hundreds states and controls.

[lovedheart]

I mean 1000-100000 variables.

[giaf]

You can have a try, but this is certainly not what it has been designed for.

[lovedheart]

Hi, how do you solve the linear system equations? LDL factorization or something else?

[giaf]

The solvers in HPMPC are designed to solve linear MPC problems, and not generic QPs. Therefore the (structured) KKT system of the unconstrained MPC problem is solved using a specialized Riccati recursion.