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MPCScheduling ​

How LinearMPCScheduler turns the scheduling variable into member weights: Nearest activates the member whose knot is closest (one QP solve per tick, a discontinuous control at the cell edges); Linear interpolates between the two neighbouring knots (two solves per tick, one exactly at a knot, a continuous control)

Cases ​

  • Nearest

  • Linear

Source ​

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"How LinearMPCScheduler turns the scheduling variable into member weights: Nearest activates the member whose knot is closest (one QP solve per tick, a discontinuous control at the cell edges); Linear interpolates between the two neighbouring knots (two solves per tick, one exactly at a knot, a continuous control)"
enum MPCScheduling =
  | Nearest
  | Linear

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