This release brings a new version of the semiband ADMM-based solver for MPCT (formulation = 'MPCT', method = 'ADMM', submethod = 'semiband') that includes the option to use soft-constraints and to consider output constraints. These features are enabled though options.soft_constraints and options.constrained_output.
Details of this new variant of the solver can be found at:
Gracia, V., Krupa, P., Limon, D., & Alamo, T. (2024). Implementation of soft-constrained MPC for Tracking using its semi-banded problem structure. arXiv preprint arXiv:2403.04601.
Additionally, this release solves a bug where random numbers were some times allocated to the computation time variables when options.timing == false. Computation times should now be strictly set to 0.0 when not measured.