/LinearMPC

Linear model predictive control library in MATLAB

Primary LanguageMATLABMIT LicenseMIT

Linear Model Predictive Control

A generic Linear Model Predictive Control library in MATLAB.

Compatible backend solvers are quadprog (OSQP and qpOASES under development)

Linear MPC Tracking

Setup Instructions

The default solver in this library is MATLAB Optimization Toolbox's built in quadprog function. To use this, just clone the repo locally and run test_solvers.m.

This library also supports qpOASES as a backend solver. To use, follow the instructions here (under doc/manual) to setup the MATLAB bindings of qpOASES on your machine. Make sure that the qpOASES mex file is added to the matlab path before you attempt to use it.