Does MPC without constraints also solves QP problem? How to check QP solver within matlab?

Hi, I have one confusion about MPC controller, usually the cost function is minimized by solving QP problem at each time step.

Is MPC solves QP problem only when we have constraints or unconstraint's MPC the optimal U is find by solving QP problem? and How to check in MATLAB that MPC is solving QP or not?

Answer 1

[Emmanouil Tzorakoleftherakis]

Hi,

If you don't have constraints, the toolbox will use the analytical solution to the problem, which you can see here. This happens automatically under the hood.

[Muhammad]

Thanks I will check it. So, it means that QP problem is not solved in matlab/simulink when we don't have constraints?

[Emmanouil Tzorakoleftherakis]

The QP is solved, just not numerically, since we have an analytical solution in this case.