Where can I find detailed learning materials for Condense QP

MPC Discussions
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