├── LICENSE ├── README.md ├── documentation_resources ├── ActiveSet.png ├── ActiveSet_final.png ├── ActiveSet_final_inversion_small.png ├── ActiveSet_final_schur_small.png ├── ActiveSet_schur.png ├── Constraints.png ├── Formulasi_Permasalahan_MPC.png ├── Naive_MPC_Calculation.png ├── Penurunan.png ├── Result_Hp3_Hu1.png ├── Result_Hp3_Hu1_zoom.png ├── Result_cnst_du.png ├── Result_cnst_du_z.png ├── Result_cnst_du_z_zoom.png ├── Result_no_constraint.png ├── Schur_comp_MPC_Calculation.png └── eq_render │ ├── -1.gif │ ├── -4_leq_zk_leq_3.5.gif │ ├── -5_leq_duk_leq_5.gif │ ├── 2cthetatrQ.gif │ ├── Q.gif │ ├── Q_inv.gif │ ├── Wk.gif │ ├── Wk_add.gif │ ├── Wk_delete.gif │ ├── aw.gif │ ├── aw_qinv_awt.gif │ ├── ax_geq_b.gif │ ├── ax_leq_b.gif │ ├── duk.gif │ ├── dumin_leq_duk_leq_dumax.gif │ ├── eq_tex │ ├── k_max_iter.gif │ ├── kkt_left.gif │ ├── kkt_system.gif │ ├── min5_du_5_min4_z_3_5_2row.gif │ ├── min5leq_du_leq5.gif │ ├── min5leq_du_leq5_min4_z_3_5.gif │ ├── q_qp.gif │ ├── q_qp_to_q_r_mpc.gif │ ├── schur_comp_of_kkt.gif │ ├── solve_kkt_eq_by_invert.gif │ ├── solve_kkt_eq_by_schur.gif │ ├── solve_kkt_eq_no_cons_as_mpc.gif │ ├── solve_kkt_eq_no_constraint.gif │ ├── term_clause.gif │ ├── thetac.gif │ ├── u2_leq_u2max.gif │ ├── uk.gif │ ├── umin_leq_uk.gif │ ├── umin_leq_uk_leq_umax.gif │ ├── variabel_qp_ke_mpc.gif │ ├── variabel_qp_ke_mpc2.gif │ ├── variabel_qp_ke_mpc3.gif │ ├── x.gif │ ├── xk+1.gif │ ├── xk.gif │ ├── zk.gif │ └── zmin_leq_zk_leq_zmax.gif ├── mpc_constrained_naive_engl ├── konfig.h ├── matrix.cpp ├── matrix.h ├── mpc.cpp ├── mpc.h └── mpc_constrained_naive_engl.ino └── mpc_constrained_schur_engl ├── konfig.h ├── matrix.cpp ├── matrix.h ├── mpc.cpp ├── mpc.h └── mpc_constrained_schur_engl.ino /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/pronenewbits/Arduino_Constrained_MPC_Library/HEAD/LICENSE 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