Modeling of dynamical systems with constraints

• Identification of hybrid systems (more...)
• Modeling of dynamical systems with on/off switches, gear shifts, etc. (more...)
• Modeling of systems with constraints on states, inputs and outputs
• Modeling of nonlinear and piecewise nonlinear systems with constraints (more ...)
• Rapid prototyping of hybrid systems using HYSDEL (more...)
• Visual modeling using MPT Studio (screenshots, live demos)

Optimal control

• Design of Model Predictive Controllers (MPC) for linear and hybrid systems with (almost) arbitrary constraints and objective functions (more...)
• Implicit or explicit representation of control laws (more...)
• MPC for nonlinear and piecewise nonlinear systems (more...)
• Move blocking (more...)
• Soft constraints (more...)
• Control of time-varying systems (more...)
• Large variety of different control strategies (more...)
  • Finite-time optimal solutions
  • Infinite-time optimal solutions
  • Minimum-time controllers
  • Low-complexity strategies
  • Robust controllers for systems with uncertainties
• Complexity reduction (more...)

Deployment of controllers

• Export of controllers to standalone C code (more...)
• Simulations of controllers in Simulink (more...)
• Code generation using Real Time Workshop
• Generation of binary search trees and their export to C code (more...)

Analysis

• Verification of safety and livencess properties of hybrid systems (more...)
• Reachability computation (more...)
• Invariant set computation (more...)
• Stability analysis of closed-loop systems via Lyapunov functions (more...)
• Stability analysis of autonomous systems via Lyapunov functions (more...)

Multi-Parametric Optimization

• Solvers for multi-parametric linear (mpLP) and quadratic (mpQP) programming
• Solvers for multi-parametric mixed-integer linear and quadratic (mpMILP/ mpMIQP) programming (more...)
• Interface to state-of-the-art optimization packages (more...)

Computational geometry

• Ellipsoidal calculus (more...)
• Rich, object-oriented library for computational geometry (more...)
• Support for convex polytopes and non-convex unions thereof
• Computation of convex hulls and envelopes
• Convexity recognition and computation of convex unions of polytopes
• Set difference, Minkowski sum and Pontryagin difference operations
• Efficient computation of projections of polytopes
• and much more...

Visualization

• Visualization of polytopes in 3D (picture gallery)
• Visualization of functions defined over polytopes (more...)

User-friendly interface

• Graphical User Interface (GUI) for easy design of controllers (more...)
• Object-oriented architecture
• Very easy to use, lots of examples and demos

Applications of MPT

• Control of DC/DC convertors - IfA ETH Zurich
• Diesel engine control - University of Cambridge
• Electronic throttle control - University of Zagreb
• Control of an inverter-fed induction machine - Wuppertal University
• Control of a backlash traverse in an automotive powertrain - Jönköping University
• Control of a Pressure-level system - Marmara University
• Contractive MPC - University of Girona

Are you using MPT and want to be listed here? Let us know, we will be glad to add a reference to your project.