This paper presents a customized convex optimization solver tailored for embedded real-time optimization, which frequently arise in modern guidance and control (G&C) applications. The solver employs a practically efficient predictor-corrector type primal-dual interior-point method (PDIPM) combined with a homogeneous embedding framework for infeasibility detection. Unlike conventional homogeneous self-dual embedding formulations, the adopted approach can directly handle quadratic cost functions without requiring problem reformulation. To support a systematic workflow, we also develop a code generation tool that analyzes the sparsity pattern of the provided problem family and generates customized solver code using a predefined code template. The generated solver code is written in C with no external dependencies other than the standard library math.h, and it supports complete static allocation of all data. Additionally, it provides parsing information to facilitate the use of the solver API by end users. Benchmark results and numerical experiments on an embedded platform demonstrate that the developed solver outperforms existing solvers in both efficiency and reliability.
Jang et al. (Tue,) studied this question.