Comments (1)
I don't really get what you are asking for. I would suggest to read the documentation to understand how your problem should look like in order to be solved by the library (the quadratic optimization problem should be strictly convex) and then see how the sample problem in section 2 has been implemented in the code (test-mpc.cc).
In the end, you just need to give to the solver the matrices A, B, C1, C2, and Q. If you need them, you can also enable constraints and slacks.
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