A Comparison on Robust MPC Methods for Nonlinear Systems

Description

This repository contains the MATLAB code that accompanies the semester project:

Erdin, Alexander “A Comparison on Robust MPC Methods for Nonlinear Systems”, 2024.

References

• The CCM class is a generalized version of the code accompaning the paper

  Sasfi, András and Zeilinger, Melanie N. and Köhler, Johannes, "Robust adaptive MPC using control contraction metrics" Automatica, p. 111169, 2023.

• The SLS class is an adapted version of the code accompaning the paper

  Leeman, Antoine P. and Sieber, Jerome and Bennani, Samir and Zeilinger, Melanie N. “Robust optimal control for nonlinear systems with parametric uncertainties via system level synthesis” In Proc. 62th IEEE Conference on Decision and Control (CDC), pp. 4784-4791, 2023.

Prerequisites

• MATLAB (tested with version R2023a)
• Casadi
• YALMIP (for offline computations)
• Mosek (for offline computations)

Installation

Software

To run this project you need to install the following software.

1. Download and install MATLAB

2. Install Casadi by following the instructions from the official Casadi documentation

3. Install YALMIP by downloading the most recent version here

4. Install MOSEK following the instructions on their web page

5. Clone this repository or download the code as a ZIP archive and extract it to a folder of your choice

6. Add the code folder to your MATLAB path by running initWorkspace.m

Usage

Run main.m to execute the algorithms and models discussed in this semester project.

License

This project is licensed under the MIT License.

Citation

If you use this code in your research, please cite our work:

@article{erdin2024RMPC,
  title={A Comparison on Robust MPC Methods for Nonlinear Systems},
  author={Erdin, Alexander},
  year={2024}
}

Support and Contact

For any questions or issues related to this code, please contact the author:

• Alexander Erdin: aerdin(at)ethz(dot)ch

We appreciate any feedback, bug reports, or suggestions for improvements.