Gooed evening guys !
First of all I want to congratulate with you on the beautiful work done till now
I am still studying all the potential that acados offers but, in general, i’m trying to build an s-function in simulink for real time purposes.
From what i understand from the pdf “Problem formulation” the state initialization can be done by setting lbx_0 and ubx_0 equal to the actual measured state.
However I can’t figure out what the variable x_init is for and how to use it (for example, is it better to initialize the entire prediction horizon with the current measured state, or initialized with the prediction in the previous step?). For the variable u_int, on the other hand, is the same thing true?
There is some “generale rule” useful for the convergence of the solver ?
Thanks in advance,