The Multi-Parametric Toolbox (MPT) is a free Matlab toolbox for design, analysis and deployment of optimal controllers for constrained linear, nonlinear 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.

@MISC{mpt,
  author  = {M. Kvasnica and P. Grieder and M. Baoti\'{c}},
  title   = {{Multi-Parametric Toolbox (MPT)}},
  url     = {http://control.ee.ethz.ch/~mpt/},
  year    = {2004},
}