question about initial constraints

[zhang123huang]

Thank you for sharing the code. I have a doubt about constraints on initial variable in problem P*(x). In equation (21) of reference [1] (p.222), the initial constraints are expressed as "x belongs to x0+Z ", where x0 is the decision variable of optimal control problem P*(x), and x is the known current state. While in the file "TubeModelPredictiveControl.m", line 41-42, the constraints are described as "Xinit = x_init + obj.sys.Z", where "x_init" is the known current state x, and "Xinit" is the constraint boundary added to the problem with the form Ax<=b to restrict initial decision variable. I think that the code in line 41 implies "x0 belongs to x+Z", which is not consistent with the original constraint "x belongs to x0+Z ". What's your opinion?

[HiroIshida]

@zhang123huang Thank you for your pointing out! You are right. I made mistake. I'll fix it later, or it would be also really nice if you make a PR.