The expressiveness of the linear MPC framework is already very limited and the current syntax limits it further. As long as my expression is mathematically valid within the linear MPC framework I think I should be able to define it.
Unfortunately for commercial embedded systems every kilobyte matters so C codegen is a must. I think it’s already a modern miracle we can do MPC with a <200 kB solver (thanks Boyd!).
Yeah this is very tricky but I think a requirement for practical applications. Between mild and cold weather with high supply temperatures maximum output power can drop from 5 to 3 kW.
Maybe you know this already, but cvxpygen will generate a function cpg_update_<param>(idx, val) to update each parameter in your problem. For that to work you would first need to know where the parameters are and there are some rules as to how parameters can enter the problem (DPP compliance).
Now for LinearMPC.jl, you could say everything that is a constant in my problem is a parameter and thus could be updated and included in the codegen. Having both an expressive API and efficient codegen is even more tricky and you’re halveway to a DSL already.
Really thinking out loud here so feel free to shoot this down, but why not use JuMP as the main problem creation interface instead? There’s a DSL, and there is MOI.Parameter.
ps. It goes without saying but I appreciate your work on these packages.