function

Control.Mpc.PartialNlpSolver

Interface for the per-iteration step solver of the transcribed problem

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`jacobian`	`Real`	`[:, :]`	Residual Jacobian with respect to the stacked decision step
input	`residual`	`Real`	`[size(jacobian, 1)]`	Residual at the current iterate
input	`regularization`	`Real`	`(min=0.0)`	Diagonal damping the solver may add where applicable
output	`step`	`Real`	`[size(jacobian, 2)]`	Decision-variable step
output	`accepted`	`Boolean`		False when the solve must be rejected

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function PartialNlpSolver
  "Interface for the per-iteration step solver of the transcribed problem"
  input Real jacobian[:, :]
    "Residual Jacobian with respect to the stacked decision step";
  input Real residual[size(jacobian, 1)] "Residual at the current iterate";
  input Real regularization(min=0.0)
    "Diagonal damping the solver may add where applicable";
  output Real step[size(jacobian, 2)] "Decision-variable step";
  output Boolean accepted "False when the solve must be rejected";
end PartialNlpSolver;