MPC basic example

[刘哲宇]

Hi:

I write the model predictive control basics code following the example, I found that there is different solutions between explicit and implicit forms. I get two different optimal solutions when all other parameters and models are same. Do you know what's the reason for that??  

[Johan Löfberg]

non-unique optima I presume

[刘哲宇]

Hi

Thanks for your quick answer, The optimisation problem in MPC example is convex, it should have an unique optimal solution. I am still confused. I'll be appreciated it if you could give more explanation. Thanks a lot!

[Johan Löfberg]

convexity does not imply uniqueness. minimize (x+y)^2 is convex but trivially non-unique

hence, if you don't trust, simply take the solution from explicit and compute objective, and compare with solution from implicit