Abstract
In this paper we introduce MATMPC, an open source software built in MATLAB for nonlinear model predictive control (NMPC). It is designed to facilitate modelling, controller design and simulation for a wide class of NMPC applications. MATMPC has a number of algorithmic modules, including automatic differentiation, direct multiple shooting, condensing, linear quadratic program (QP) solver and globalization. It also supports a unique Curvature-like Measure of Nonlinearity (CMoN) MPC algorithm. MATMPC has been designed to provide state-of-the-art performance while making the prototyping easy, also with limited programming knowledge. This is achieved by writing each module directly in MATLAB API for C. As a result, MATMPC modules can be compiled into MEX functions with performance comparable to plain C/C++ solvers. MATMPC has been successfully used in operating systems including WINDOWS, LINUX AND OS X. Selected examples are shown to highlight the effectiveness of MATMPC.
| Original language | English |
|---|---|
| Title of host publication | 2019 18th European Control Conference, ECC 2019 |
| Place of Publication | Piscataway |
| Publisher | Institute of Electrical and Electronics Engineers |
| Pages | 3365-3370 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783907144008 |
| DOIs | |
| Publication status | Published - 1 Jun 2019 |
| Event | 18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italy Duration: 25 Jun 2019 → 28 Jun 2019 Conference number: 18 https://www.ifac-control.org/events/european-control-conference-in-cooperation-with-ifac-ecc-2019 |
Conference
| Conference | 18th European Control Conference, ECC 2019 |
|---|---|
| Abbreviated title | ECC 2019 |
| Country/Territory | Italy |
| City | Naples |
| Period | 25/06/19 → 28/06/19 |
| Other | 18th European Control Conference (ECC 2019) (in cooperation with IFAC) |
| Internet address |