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main
main
 
 
testCode
testCode
 
 
Alpha_AUT.m
Alpha_AUT.m
 
 
Alpha_NTU.m
Alpha_NTU.m
 
 
IPM_v2.m
IPM_v2.m
 
 
IPM_v2_full.m
IPM_v2_full.m
 
 
MPConDSP_mode2.m
MPConDSP_mode2.m
 
 
Mode2_diff_equ.m
Mode2_diff_equ.m
 
 
README.md
README.md
 
 
SP_AUT.m
SP_AUT.m
 
 
SP_DY.m
SP_DY.m
 
 
SP_LOQO.m
SP_LOQO.m
 
 
SP_wright.m
SP_wright.m
 
 
TC_Himmelblau.m
TC_Himmelblau.m
 
 
TC_KKT_AUT.m
TC_KKT_AUT.m
 
 
TC_KKT_Wright.m
TC_KKT_Wright.m
 
 
augment.m
augment.m
 
 
block_LU.m
block_LU.m
 
 
cf.m
cf.m
 
 
cf_v2.m
cf_v2.m
 
 
diag_inv.m
diag_inv.m
 
 
fankui.m
fankui.m
 
 
fankui_v2.m
fankui_v2.m
 
 
fankui_v3.m
fankui_v3.m
 
 
fphi.m
fphi.m
 
 
fphi_v2.m
fphi_v2.m
 
 
ipm.m
ipm.m
 
 
kal_filter.m
kal_filter.m
 
 
lduEvaluate.m
lduEvaluate.m
 
 
line_solve.m
line_solve.m
 
 
luEvaluate.m
luEvaluate.m
 
 
mcf.m
mcf.m
 
 
mem_cal.m
mem_cal.m
 
 
model2ode.m
model2ode.m
 
 
mpcTime.m
mpcTime.m
 
 
mpc_v2.m
mpc_v2.m
 
 
mpc_v3.m
mpc_v3.m
 
 
mpc_v3_model1.m
mpc_v3_model1.m
 
 
mpc_v3_model2.m
mpc_v3_model2.m
 
 
mpc_v3_model3.m
mpc_v3_model3.m
 
 
mpc_v3_model3_full.m
mpc_v3_model3_full.m
 
 
priduip.m
priduip.m
 
 
priduip_v2.m
priduip_v2.m
 
 
priduip_v3.m
priduip_v3.m
 
 
priduip_v4.m
priduip_v4.m
 
 
youhua.m
youhua.m
 
 

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IPM

Interior Point Method (IPM) used to solve Quadratic Programming (QP) problems in MPC. The functions are implemented based on Nocedal's book "Numerical Optimization" Please contact the author for any unclear issues.

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Interior Point Method for solving QPs in MPC

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