fast_mpc: code for fast model predictive control
Version Alpha (Sep 2008)
Yang Wang and Stephen Boyd
Purpose
fast_mpc contains two C functions, with MATLAB mex interface, that implement the fast model predictive control methods described in the paper Fast Model Predictive Control Using Online Optimization. See this paper for the precise problem formulation and meanings of the algorithm parameters.
Download and install
Get and unpack the package files from either of
fast_mpc-0.0.1.tar.gz
fast_mpc-0.0.1.zip
This will create a directory that contains all source, as well as this documentation.
See the file INSTALL for installation instructions.
What fast_mpc does
We consider the control of a time-invariant linear dynamical system
where
,
, and
are the state, input, and disturbance at time
, and
and
are the dynamics and input matrices.
In