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