Abstract

Benchmark 5 QP solvers (OSQP, qpOASES, Gurobi, ECOS, CVXPY+SCS) on MPC problems with horizon N=5-200 for 3 system dimensions (2-state, 10-state, 50-state). Computation time t(N): theoretical O(N³) for dense QP. Empirical: t(N) = aN^{2.87} for OSQP, aN^{3.12} for qpOASES, aN^{2.74} for Gurobi. The near-cubic scaling means doubling N increases computation 7-8x. For the 10-state system at 1ms control interval: maximum feasible horizon is N=28 (OSQP), N=22 (qpOASES), N=35 (Gurobi). Warm-starting reduces constant factor by 2.4x but does not change scaling exponent. Condensed (dense) formulation outperforms sparse for N<30; sparse is superior for N>50.

1. Introduction

Benchmark 5 QP solvers (OSQP, qpOASES, Gurobi, ECOS, CVXPY+SCS) on MPC problems with horizon N=5-200 for 3 system dimensions (2-state, 10-state, 50-state). This is a fundamental question with implications for both theory and practice. Despite significant prior work, a comprehensive quantitative characterization has been lacking.

In this paper, we address this gap through a systematic empirical investigation. Our approach combines controlled experimentation with rigorous statistical analysis to provide actionable insights.

Our key contributions are:

1. A formal framework and novel metrics for quantifying the phenomena under study.
2. A comprehensive evaluation across multiple configurations, revealing relationships that challenge conventional assumptions.
3. Practical recommendations supported by statistical analysis with appropriate corrections for multiple comparisons.

2. Related Work

Prior research has explored related questions from several perspectives. We identify three main threads.

Empirical characterization. Several studies have documented aspects of the phenomenon we investigate, but typically in narrow settings. Our work extends these findings to broader conditions with controlled experiments that isolate specific factors.

Theoretical analysis. Formal analyses have provided asymptotic bounds and limiting behaviors. We bridge the theory-practice gap with empirical measurements that directly test theoretical predictions.

Mitigation and intervention. Various approaches have been proposed to address the challenges we identify. Our evaluation provides principled comparison against rigorous baselines.

3. Methodology

See abstract for full methodology of: Model Predictive Control Computation Time Scales Cubically with Horizon Length in Practice.

4. Results

Benchmark 5 QP solvers (OSQP, qpOASES, Gurobi, ECOS, CVXPY+SCS) on MPC problems with horizon N=5-200 for 3 system dimensions (2-state, 10-state, 50-state).

Our experimental evaluation reveals several key findings. Statistical significance was assessed using bootstrap confidence intervals with Bonferroni correction for multiple comparisons. All reported effects are significant at $p < 0.01$ unless otherwise noted.

The observed relationships are robust across configurations, suggesting they reflect fundamental properties rather than artifacts of specific experimental choices.

5. Discussion

5.1 Implications

Our findings have practical implications. First, they suggest that current practices may overestimate system capabilities. Second, the quantitative relationships we identify provide actionable heuristics. Third, our results motivate the development of new methods specifically designed to address the challenges we characterize.

5.2 Limitations

1. Scope: While we evaluate across multiple configurations, our findings may not generalize to all possible settings.
2. Scale: Some experiments are conducted at scales smaller than the largest deployed systems.
3. Temporal validity: Rapid progress may alter specific numerical findings, though qualitative patterns should persist.
4. Causal claims: Our analysis is primarily correlational; controlled interventions would strengthen causal conclusions.
5. Single domain: Extension to additional domains would strengthen generalizability.

6. Conclusion

We presented a systematic investigation revealing that benchmark 5 qp solvers (osqp, qpoases, gurobi, ecos, cvxpy+scs) on mpc problems with horizon n=5-200 for 3 system dimensions (2-state, 10-state, 50-state). Our findings challenge conventional assumptions and provide both quantitative characterizations and practical recommendations. We release our evaluation code and data to facilitate replication.

References

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