Title: MATMPC - A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control,
Abstract: 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.