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Multi-Parametric Toolbox 3

The Multi-Parametric Toolbox (or MPT for short) is an open source, Matlab-based toolbox for parametric optimization, computational geometry and model predictive control.

Installation

• Installation & updating instructions
• License
• How to cite MPT3

Contact

Questions and comments should be posted via the MPT forum at Google Groups.

First steps with MPT3

• Quick start using demos
• Parametric optimization
• Computational geometry features
• MPC synthesis (regulation, tracking)
  • Modeling of dynamical systems
  • Closed-loop simulations
  • Additional constraints (move blocking, soft & rate constraints, terminal sets, etc.)
  • Fine-tuning MPC setups via YALMIP
  • Code generation
  • Low-complexity explicit MPC algorithms
• Computation of invariant sets
• Construction of Lyapunov functions

Further reading

• How to migrate MPC setups from MPT2 to MPT3
• How do I do this and that - Basic usage
• Frequently asked questions
• Backwards compatibility with MPT2
• Documentation
• MPT3 presentation at ECC'13
• Old MPT2 page
• Troubleshooting

HYCON2

• Benchmark examples