At 120 {HEAD ~ the QP or LP problem} is solved by a general purpose QP solver to get {TAIL ~ the proposed control changes} 
At 120 { HEAD ~ the QP or LP problem } is solved by a general purpose QP solver to get { TAIL ~ the proposed control changes }
OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD HEAD OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL