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nicolapiccinelli / libmpc

libmpc++ is a C++ header-only library to solve linear and non-linear MPC
https://altairlab.gitlab.io/optcontrol/libmpc/
MIT License
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NLMPC State Bounds Exceeded #35

Closed tchase24 closed 2 months ago

tchase24 commented 2 months ago

I'm running into an issue when using the NLMPC with state bounds. I would expect that specifying a min/max along the prediction horizon would narrow the search space and remove instances where the bounds are exceeded. However, instead I get a solver error of Internal solver error: bounds 14 fail 0 <= -0.19834 <= 2. Is this the behavior that is intended?

nicolapiccinelli commented 2 months ago

@tchase24, can you provide more insight about your platform, library version, compiler version and dependencies version? Do you verify if your optimization problem is initialized in a feasible initial condition?

tchase24 commented 2 months ago

@nicolapiccinelli it was an initial condition problem. The original state was fine but the propagation allowed it to go out of bounds. Appreciate the assistance.