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Question about equality constraint uq #6

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seungiloh5 opened this issue Jul 20, 2022 · 0 comments
Open

Question about equality constraint uq #6

seungiloh5 opened this issue Jul 20, 2022 · 0 comments

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@seungiloh5
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Hi, Mr. Steinweg

i appreciate for publishing your MPC code.

Your code is very clean to understand except for a few lines. I'm just trying to figure out the function "_init_problem" in MPC.py, especially the variable "uq". So far it has not succeeded ...

Can you explain me why "uq" is calculated into the equation "B*ur - f"? And why is it the part of equality constraint ?
@seungiloh5 seungiloh5 changed the title Question about equality constriant uq Question about equality constraint uq Jul 20, 2022
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@seungiloh5