MATMPC: a MATLAB based toolbox for real-time nonlinear model predictive control

Yutao Chen, Mattia Bruschetta, Enrico Picotti, Alessandro Beghi

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

35 Citaten (Scopus)


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.

Originele taal-2Engels
Titel2019 18th European Control Conference, ECC 2019
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Aantal pagina's6
ISBN van elektronische versie9783907144008
StatusGepubliceerd - 1 jun. 2019
Evenement18th European Control Conference, ECC 2019 - Naples, Italy, Naples, Italië
Duur: 25 jun. 201928 jun. 2019
Congresnummer: 18


Congres18th European Control Conference, ECC 2019
Verkorte titelECC 2019
Internet adres


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