Interior-point method is good for large-scale problems, however, it is not easy to warm start and its barrier parameter is usually set as a constant, and thus only sub-optimal solution is be obtained.
The future version of ParNMPC will support active-set method to deal with constraints.
Interior-point method is good for large-scale problems, however, it is not easy to warm start and its barrier parameter is usually set as a constant, and thus only sub-optimal solution is be obtained.
The future version of ParNMPC will support active-set method to deal with constraints.