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math.OC2019
PRESAS: Block-Structured Preconditioning of Iterative Solvers within a Primal Active-Set Method for fast MPC
Rien Quirynen, Stefano Di Cairano
Model predictive control (MPC) for linear dynamical systems requires solving an optimal control structured quadratic program (QP) at each sampling instant. This paper proposes a pr…
math.OC2019
acados: a modular open-source framework for fast embedded optimal control
Robin Verschueren, Gianluca Frison, Dimitris Kouzoupis +7
This paper presents the acados software package, a collection of solvers for fast embedded optimization intended for fast embedded applications. Its interfaces to higher-level lang…