How to define my optimal control problem?

[yywangvr]

Hi, I really like your work, and I succeed in running the test.

But I do not know how to define my own problem to be solved with your code? Could you please give me a little help. Thank you very much.

[michele-segata]

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.