错误使用 ipqpdense
The interior convex algorithm requires all objective and constraint values to be finite.
出错 quadprog
ipqpdense(full(H), f, A, B, Aeq, Beq, lb, ub, X0, flags, ...
出错 MPC_maikenamulun
[X, fval,exitflag]=quadprog(H,f,A_cons,B_cons,[],[],lb,ub,[],options);
