Where can I find the specific expression for formula (3)
Hi chenmingxi,
if you print the acados statistics after you solved a problem. In python this can be done with
ocp_solver.print_statistics() (if your solver object is called ocp_solver) or you can set the option
ocp.solver_options.print_level = 1.
Then, there will be a column with the name res_stat, this is the infinity norm of the gradient of the Lagrangian. res_stat stands for stationarity residual.
I hope this helps this answers your questions.
David