Constraint Matrix of MPC model

I have been trying to understand and implement the MPC model used on the Gepetto repository. The two constraint equations, ie. M.X = N and LX<=K, are combined into 1 equation, ie L<=AX<U. How do you combine them and what goes into each of them? I found the reference papers but they do not say much about this.


Hello @foulon ,

Here’s the explanation for the content of those matrices:

Feel free to tell me if a point needs more clarification. This is an extract of my PhD manuscript, the whole document will be online in the coming weeks.


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This is clear and intelligible. Thank you.