2604.00802 Model Predictive Control Computation Time Scales Cubically with Horizon Length in Practice
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.