search

GepocUS / Spcies

Suite of Predictive Controllers for Industrial Embedded Systems. A Matlab toolbox for automatic code generation of solvers for MPC controllers.
Apache License 2.0
14 stars 2 forks source link

Use v(k) - v(k-1) as the fixed point residual of the ADMM_cs solver for MPCT #19

Closed pablokrupa closed 2 years ago

pablokrupa commented 3 years ago

Do this for the C solver as well as for the Matlab one. Currently, we use z(k) - z(k-1).

pablokrupa commented 3 years ago

This should be checked in all solvers. In fact, I need to check which dual residual exit condition is more appropriate and make that change across all the ADMM-based solvers.

pablokrupa commented 2 years ago

This has been fixed as of 59ad2db1446f19a2e6245080c483f092696bead2.