Developer notes

Quadratic program

Internally, solve_mpc() builds a quadratic program before calling a QP solver. You can retrieve the QP corresponding to the input problem by creating an instance of the intermediate MPCQP() representation:

class qpmpc.mpc_qp.MPCQP(mpc_problem, sparse=False)

MPC problem represented as a quadratic program.

This class further stores intermediate matrices used to recompute cost and linear inequality vectors.