Hi everyone,

I am currently trying to implement such a OCP formulation with soft constraints as in the paper:

Soft Constrained Model Predictive Control With Robust Stability Guarantees from Melanie N. Zeilinger et.al (Soft Constrained Model Predictive Control With Robust Stability Guarantees | IEEE Journals & Magazine | IEEE Xplore)

As the photo above right side, we have in stage cost for slack variable and in stage constraints such terms, in which both stage slack epsilon_i and terminal slack epsilon_s exist.

However, in acados problem formulation, as the left side, we can’t add a term related to terminal slack variable to stage cost or any stage constraint.

Is there a way to implement this kind of formulation with acados? Or it is not supported now?

Thank you very much in advance!

Yiwei Wang