mpt3

MPT3 Wiki | Main / Installation

Learn how to install MPT3, a MATLAB toolbox for polytopic computational geometry, and other dependencies for SReachTools, a toolbox for reachability analysis. Find out how to use external solvers like GUROBI and MOSEK for mixed-integer programming and improved performance.

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MPT3 is a new version of MPT, a Matlab toolbox for model predictive control (MPC). Learn about the new features, compatibility, performance, and how to use external solvers and explicit controllers in MPT3.

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First steps with MPT3. Quick start using demos; Parametric optimization; Computational geometry features; MPC synthesis (regulation, tracking) Modeling of dynamical systems; Closed-loop simulations; Additional constraints (move blocking, soft & rate constraints, terminal sets, etc.) Fine-tuning MPC setups via YALMIP; Code generation

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Synthesis of MPC controllers in MPT3 is based on two principles: Constraints and penalties are specified directly in the prediction model. Every MPC controller in MPT3 starts as an on-line MPC regulator. Explicit controllers are only synthesized on demand. Regulation problem. Tracking problem.

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MPT3 is a Matlab-based toolbox for parametric optimization, computational geometry and model predictive control. It offers features such as demos, YALMIP, closed-loop simulations, code generation, invariant sets, Lyapunov functions and more.

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