Where can I find detailed learning materials for Condense QP

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1

Hi :wave:

Where can I find detailed learning materials for Condense QP？I came into contact with MLI while studying.

2

Hi,
in acados full and partial condensing are supported, which are efficiently implemented in HPIPM.
The algorithms implemented are close to what is described in https://publications.syscop.de/Frison2016.pdf
Best,
Jonathan

3

Hi,
As a small addition to Jonathan’s answer, I also found this work on the subject very interesting: https://www.sciencedirect.com/science/article/pii/S0167691114002680

Best regards
Franek

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