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1 parent dc8681a commit 805c331Copy full SHA for 805c331
src/controller/construct.jl
@@ -447,7 +447,7 @@ The ``\mathbf{F}`` and ``\mathbf{f_x̂}`` vectors are recalculated at each contr
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\mathbf{Ĉ W}(0) \\
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\mathbf{Ĉ W}(1) \\
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\vdots \\
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- \mathbf{Ĉ W}(H_p-1) \end{bmatrix} \mathbf{\big(x̂_{op} + f̂_{op}\big)}
+ \mathbf{Ĉ W}(H_p-1) \end{bmatrix} \mathbf{f̂_{op} - \big(x̂_{op}\big)}
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\end{aligned}
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```
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For the terminal constraints, the matrices are computed with:
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