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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
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`A_in` and `B_in` should not be used after being assigned to the local variable `AB` #39

Open pablokrupa opened 11 months ago

pablokrupa commented 11 months ago

In the LaxMPC ADMM solver, A_in is used in the computation of AQiAt. However, this variable should not be used any more at this point in the code. Instead, the AB variable should be used. Same goes for B_in with BRiBt. Further ahead, A_in is also used in the computation of the Alpha matrices.

This should be fixed in this solver and in any other time-varying solver.