Robust optimal control for nonlinear systems with parametric uncertainties via system level synthesis.

This repository contains the MATLAB code that accompanies the research paper:

Leeman AP., Sieber J., Bennani S., Zeilinger MN. “Robust optimal control for nonlinear systems with parametric uncertainties via system level synthesis” In Proc. 62th IEEE Conference on Decision and Control (CDC), pp. 4784-4791, 2023.

The paper is freely available on arXiv or IEEE website

Prerequisites

MATLAB (tested with version R2020b)
Casadi

Installation

Download and install MATLAB from the official website.
Install Casadi by following the instructions from the official Casadi documentation.
Clone this repository or download the code as a ZIP archive and extract it to a folder of your choice.
Add the code folder to your MATLAB path by running the following command in the MATLAB Command Window:
```
 addpath('/path/to/your/code/folder');
```

Usage

Run the main script (i.e., main.m) to execute the algorithms and models discussed in the paper.

License

This project is licensed under the MIT License.

Citation

If you use this code in your research, please cite our paper:

@inproceedings{leeman2023_CDC,
title={Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level Synthesis},
author={Leeman, Antoine P. and Sieber, Jerome and Bennani, Samir and Zeilinger, Melanie N.},
booktitle = {Proc. of the 62nd IEEE Conf. on Decision and Control (CDC)},
doi={10.1109/CDC49753.2023.10383271},
pages={4784-4791},
year={2023}
}

Projects using this code

https://github.com/Gedlex/nonlinear-robust-MPC - Alexander Erdin's semester project: A comparison between the proposed method and a CCM-based Robust MPC alternative.

Support and Contact

For any questions or issues related to this code, please contact the author:

Antoine Leeman: aleeman(at)ethz(dot)ch

We appreciate any feedback, bug reports, or suggestions for improvements.

antoineleeman/nonlinear-parametric-synthesis