MPCLib is a C++ library that solves Model Predictive Control problems. It can
also be used to solve strictly convex quadratic minimization problems by using
the embedded QuadProg++ library.
The library defines a very simple interface that can be used to enable control
and output constraints, slack variables, minimization weights, etc. In turn, the
MPC interface uses the QuadraticProblem and the Constraint classes to easily
define constraints and add them to the minimization problem.
Please be aware that this software is still in its early life. It works fine but it is not complete. The software still doesn't provide useful errors or exceptions when something is misconfigured. The project will be updated over time. Feel free to contribute.
The project is cmake based. To build it simply type
mkdir build
cd build
cmake ..
make
To run some tests and generate some plots simply run test-mpc.sh in the main
folder. The script runs 6 different tests producing csv files as output. If
you have R installed, the script will also plot
the results. For more formal information on the problem the library solves and
on the examples please refer to the PDF in the doc folder.
The library includes other open source software (please see the LICENSE file):
- QuadProg++: this is the library that solves the quadratic optimization problem;
- TCLAP: this is a command line arguments parsing library that is used in the sample program;
Copyright (C) 2017 Michele Segata