Related Pages

Here is a list of all related documentation pages:

• Overview
• A simple demo
• Problem definition
• KKT system
• Generation of an initial feasible point
• Derivation of the matrix of equality constraints
• Schur complement
• Cholesky decomposition of Schur complement
• Adding inequality constraints
• Removing inequality constraints
• Notes on implementation
• Derivations for a linearly constrained problem
• Derivations for the SMPC scheme
• Notes on implementation
• Todo List