MATMPC - A MATLAB Based Toolbox for Real-time Nonlinear Model Predictive Control
  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.
