Hi

I am new to acados and am trying out the interface. However, I am having trouble with a simple modification of the `acados_python/getting_started/minimal_example_closed_loop.py`

code. Essentially, I just want to change the `yref`

to direct the system to `x=3`

but set the constraint on the position `x`

to be `[-2,2]`

. This causes the optimization to fail (with `status=2`

) on iteration 23.

This seems like a very simple modification to the simplest code, yet it is failing. I have tried changing the parameters and adding slack variables but nothing has worked consistently. Here is the minimum code change required to reproduce the error: Update minimal_example_closed_loop.py · Federico-PizarroBejarano/acados@4f6605a · GitHub

If I add slack variables it works, but any slight change in the weight matrices causes it to fail again: Update minimal_example_closed_loop.py · Federico-PizarroBejarano/acados@94eec9c · GitHub

I am unsure if I am doing everything correctly, but it seems extremely sensitive to weights and initializations despite being the most simple example. Let me know if I am doing something wrong, or if I need to robustify the parameters. Thank you very much!