Intermediate constraint h != upper, lower bounds

MPC Discussions
1

Hi :wave:

I’m using Python acados.
I want to ensure the feasibility of my solution by relaxing the constraint on the final term. Since there is no lbu_e, ubu_e, I’ve set all lub, ubu to infinity, and put constraints to mimic those bounds using con_h_expr.
My issue is that the result is different with the same constraints set on [lbu,ubu] or con_h_expr. Why?
I was expecting that an intermediate constraint h would have the same effect as bound constraints.

Any help will be appreciated.

2

Hi,
note, that con_h_expr is not enforced at the initial stage, you probably also need to set con_h_expr_0.