doc: reverting to Cwt=1e5 for the pendulum in manual#386
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This is the tuning for this specific solver that leads to minimal constraint violation. Note that constraint violation are normal and expected if there is modeling mismatch like in this example. But the objective of the manual is to present simple case study. I don't want to enter into the details of constraint violation under plant-model mistmatch here, it is already discussed in the last section for `LinMPC`.
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This is the tuning for this specific solver that leads to no constraint violation. Note that constraint violations are normal and expected if there is modeling mismatch like in this example. But the objective of the manual is to present simple case study. I don't want to enter into the details of constraint violation under plant-model mistmatch here, it is already discussed in the last section for
LinMPC. Conclusion: let's opt for a tight tuning that suppresses the constraint violation, even if it's not the most robust one.Related to #384. I kept the
Cwt=1e4tuning in the benchmark suite.