The Multi-Parametric Toolbox (MPT) is a free Matlab toolbox for design, analysis and deployment of optimal controllers for constrained linear and hybrid systems. Efficiency of the code is guaranteed by the extensive library of algorithms from the field of computational geometry and multi-parametric optimization.
The toolbox offers a broad spectrum of algorithms compiled in a user friendly and accessible format: starting from different performance objectives (linear, quadratic, minimum time) to the handling of systems with persistent additive and polytopic uncertainties. Users can add custom constraints, such as polytopic, contraction, or collision avoidance constraints, or create custom objective functions. Resulting optimal control laws can either be embedded into your applications in a form of a C code, or deployed to target platforms using Real Time Workshop.
Main features include:
- Modeling and control of linear, nonlinear and hybrid systems with constraints
- Design of explicit and implicit optimal control laws
- Deployment of optimal controllers in C-code
- Verification and reachability analysis
- Multi-parametric optimization
- Rich library for computational geometry
Download site : http://control.ee.ethz.ch/~mpt/
Version : 2.6 (March 30, 2006)
Software packages included in the distribution of MPT:
- SeDuMi 1.05
- YALMIP 3
- Hybrid Identification Toolbox 1.0
- Ellipsoidal Toolbox 1.1
Date added : October 17, 2005
User Manuals and on-line demos
Directly from MPT website : http://control.ee.ethz.ch/~mpt/docs/
Michal Kvasnica, ETH Zurich.
Mato Baotic, ETH Zurich alumni, now with FER Zagreb.
Pascal Grieder, ETH Zurich alumni, now with McKinsey & Company.
Miroslav Baric, ETH Zurich.
Frank J. Christophersen, ETH Zurich.