This repository contains simulations and visualizations developed for assignments and projects in the 2023 Model Predictive Control (MPC) course at K. N. Toosi University of Technology, under the supervision of Dr. Amirhossein Nikoofard, Assistant Professor of Control Engineering. All algorithms are implemented in MATLAB R2023a. Each method is applied to a specific benchmark system or model, and detailed documentation is provided within its respective directory.
| Directory | Topic | Access |
|---|---|---|
Optimization |
Solving unconstrained, constrained, and linear programming problems using YALMIP and CVX toolboxes. |  |
Linear-MPC |
Stabilization and disturbance rejection of a balancing robot using Linear MPC, with performance comparison against DT-LQR. | |
Tube-MPC |
Robust control design via Tube MPC for systems with additive sinusoidal disturbances, compared to standard Linear MPC. | |
Hybrid-MPC |
Development of a Hybrid MPC controller for a simplified F-16 aircraft model during take-off and maneuvering phases. | |
Explicit-MPC |
Design of an Explicit MPC for systems with actuator constraints, benchmarked against Implicit MPC and PID control. | |
- Borrelli, F., Bemporad, A. and Morari, M., Predictive control for linear and hybrid systems. Cambridge University Press, 2017
- Camacho, E. F., & Alba, C. B. (2013). Model predictive control. Spring
- Wang, L., 2009. Model predictive control system design and implementation using MATLAB. Springer
For any questions or additional information regarding the Model Predictive Control Course 2023, please do not hesitate to contact me at mm.ghorbani@email.kntu.ac.ir.