# \#control

**URL:** https://discourse.julialang.org/tag/control/21.md

[Latest](https://discourse.julialang.org/latest.md) · [Categories](https://discourse.julialang.org/categories.md) · [Tags](https://discourse.julialang.org/tags.md)

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## [\[ANN\] ModelPredictiveControl.jl](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147)

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**Author:** [@franckgaga](https://discourse.julialang.org/u/franckgaga)\
**Replies:** 79\
**Last updated:** [September 11, 2026, 3:54am UTC](https://discourse.julialang.org/t/ann-modelpredictivecontrol-jl/100147 "2026-09-11T03:54:09Z")

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ModelPredictiveControl.jl I’m currently writing a model predictive control package for Julia. Here’s a quick list of the main features: Both linear and nonlinear plant models are supported. The implementation exploi…

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## [\[ANN\] LinearMPC.jl: Embedded Model Predictive Control of linear systems](https://discourse.julialang.org/t/ann-linearmpc-jl-embedded-model-predictive-control-of-linear-systems/128484)

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**Author:** [@darnstrom](https://discourse.julialang.org/u/darnstrom)\
**Replies:** 10\
**Last updated:** [April 8, 2026, 10:48pm UTC](https://discourse.julialang.org/t/ann-linearmpc-jl-embedded-model-predictive-control-of-linear-systems/128484 "2026-04-08T22:48:45Z")

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I am developing the package LinearMPC.jl, which is a package for Model Predictive Control (MPC) of linear dynamical systems. The focus of the package to produce high-performant and lightweight C-code that can easily be …

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## [\[ANN\] OptimalControl.jl v2.0.0](https://discourse.julialang.org/t/ann-optimalcontrol-jl-v2-0-0/136599)

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**Author:** [@ocots](https://discourse.julialang.org/u/ocots)\
**Replies:** 7\
**Last updated:** [April 8, 2026, 8:48am UTC](https://discourse.julialang.org/t/ann-optimalcontrol-jl-v2-0-0/136599 "2026-04-08T08:48:32Z")

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It is a pleasure to announce the new major release of OptimalControl.jl (v2.0.0). Designed to solve optimal control problems on ODEs, the package features: a friendly DSL both direct (optimisation) and indirect (aka. s…

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## [Linearising an nonlinear, algebraic DAE for MPC control](https://discourse.julialang.org/t/linearising-an-nonlinear-algebraic-dae-for-mpc-control/135151)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 5\
**Last updated:** [February 13, 2026, 5:30pm UTC](https://discourse.julialang.org/t/linearising-an-nonlinear-algebraic-dae-for-mpc-control/135151 "2026-02-13T17:30:55Z")

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We have the idea that we might be able to use linear MPC to control kites modelled as differential-algebraic equations using MTK. I have a student who has some issues with linearizing: It is easy to linearize a system a…

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## [PID sampling time in modelingtoolkit](https://discourse.julialang.org/t/pid-sampling-time-in-modelingtoolkit/134671)

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**Author:** [@victor](https://discourse.julialang.org/u/victor)\
**Replies:** 3\
**Last updated:** [December 22, 2025, 4:36pm UTC](https://discourse.julialang.org/t/pid-sampling-time-in-modelingtoolkit/134671 "2025-12-22T16:36:06Z")

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Hi. I’ve built a modelingtoolkit model to simulate my process system. It uses PID controllers, the issue is that the control system has a sampling time of 1s. This has a huge effect on the parameters for the controller a…

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## [Robust resampling/interpolation method](https://discourse.julialang.org/t/robust-resampling-interpolation-method/132665)

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**Author:** [@langestefan](https://discourse.julialang.org/u/langestefan)\
**Replies:** 25\
**Last updated:** [October 27, 2025, 1:15pm UTC](https://discourse.julialang.org/t/robust-resampling-interpolation-method/132665 "2025-10-27T13:15:54Z")

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I am working on a system identification problem with poor quality input data. The data describes a heating system, with thermostat temperatures, thermal power inputs, supply/return water temperatures etc. Some issues w…

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## [\[ANN\] New release of OptimalControl.jl](https://discourse.julialang.org/t/ann-new-release-of-optimalcontrol-jl/132764)

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**Author:** [@control-toolbox](https://discourse.julialang.org/u/control-toolbox)\
**Replies:** 5\
**Last updated:** [October 6, 2025, 10:55am UTC](https://discourse.julialang.org/t/ann-new-release-of-optimalcontrol-jl/132764 "2025-10-06T10:55:49Z")

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It is a pleasure to announce the new release of OptimalControl.jl (v1.1). Intended to solve optimal control problems on ODEs, the package features: a friendly DSL both direct (optimisation) and indirect (aka. shooting)…

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## [Relationship between OptimalControl.jl and ControlSystems.jl](https://discourse.julialang.org/t/relationship-between-optimalcontrol-jl-and-controlsystems-jl/116959)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 5\
**Last updated:** [September 30, 2025, 12:20pm UTC](https://discourse.julialang.org/t/relationship-between-optimalcontrol-jl-and-controlsystems-jl/116959 "2025-09-30T12:20:38Z")

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At JuliaCon 2024 I learned about the package OptimalControl.jl and related. To install them, you need to add a custom registry: pkg\> registry add https://github.com/control-toolbox/ct-registry.git pkg\> add OptimalContr…

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## [Optimization Based Kalman Filters](https://discourse.julialang.org/t/optimization-based-kalman-filters/131937)

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**Author:** [@langestefan](https://discourse.julialang.org/u/langestefan)\
**Replies:** 6\
**Last updated:** [August 29, 2025, 12:19pm UTC](https://discourse.julialang.org/t/optimization-based-kalman-filters/131937 "2025-08-29T12:19:03Z")

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I was wondering if we have any reference implementations or packages that implement (convex) optimization based kalman filters. Such as discussed in this paper by Boyd: Real-Time Convex Optimization in Signal Processing …

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## [PI Controller oscillating between limit values](https://discourse.julialang.org/t/pi-controller-oscillating-between-limit-values/131510)

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**Author:** [@madtorresga](https://discourse.julialang.org/u/madtorresga)\
**Replies:** 4\
**Last updated:** [August 12, 2025, 5:01am UTC](https://discourse.julialang.org/t/pi-controller-oscillating-between-limit-values/131510 "2025-08-12T05:01:23Z")

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Hello, I’m trying to implement a PI controller that turns on once the cell goes out of the voltage limits. My model looks something like this: @mtkmodel Cell begin ... @components begin ... deadzone = DeadZ…

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## [\[ANN\] New package WinchControllers](https://discourse.julialang.org/t/ann-new-package-winchcontrollers/129507)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 0\
**Last updated:** [May 31, 2025, 7:18pm UTC](https://discourse.julialang.org/t/ann-new-package-winchcontrollers/129507 "2025-05-31T19:18:56Z")

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Recently, we registered the package WinchControllers.jl, and the new release 0.5.3 is ready for practical use. While it was developed for airborne wind energy systems, it should be useful everywhere where winches are ne…

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## [Acausal Modelling and Control Sytem](https://discourse.julialang.org/t/acausal-modelling-and-control-sytem/127003)

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**Author:** [@AndhikaTama](https://discourse.julialang.org/u/AndhikaTama)\
**Replies:** 22\
**Last updated:** [May 4, 2025, 3:39pm UTC](https://discourse.julialang.org/t/acausal-modelling-and-control-sytem/127003 "2025-05-04T15:39:55Z")

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Hello everyone, I am a new user of Julia ModelingToolkit and ControlSystem. I am currently working on a project with the topic Nonlinear Dynamic Simulation of a MicroGas Turbine Integrated with Concentrated Solar Therma…

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## [Commercial offers of Julia Computing](https://discourse.julialang.org/t/commercial-offers-of-julia-computing/127914)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 3\
**Last updated:** [April 10, 2025, 5:12pm UTC](https://discourse.julialang.org/t/commercial-offers-of-julia-computing/127914 "2025-04-10T17:12:08Z")

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I asked Julia Computing for an offer for a license for using the package JuliaSimControl.jl locally (for a small startup company). I came to the conclusion that such a license is not offered. This is a pity. For small c…

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## [How to link a Selector to a column of a DataTable](https://discourse.julialang.org/t/how-to-link-a-selector-to-a-column-of-a-datatable/127723)

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**Author:** [@edmund.r](https://discourse.julialang.org/u/edmund.r)\
**Replies:** 4\
**Last updated:** [April 7, 2025, 2:01pm UTC](https://discourse.julialang.org/t/how-to-link-a-selector-to-a-column-of-a-datatable/127723 "2025-04-07T14:01:24Z")

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Hi, I have some JSON of the form j = JSON.parse("""\[{"A":"one", "B":2},{"A":"three","B":4}\]""") I have made a DataTable by dt = DataTable(DataFrame(j)) Next I would like to bind a Selector control to a column. I …

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## [Alternative to systune in Julia](https://discourse.julialang.org/t/alternative-to-systune-in-julia/126583)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 9\
**Last updated:** [March 25, 2025, 8:20am UTC](https://discourse.julialang.org/t/alternative-to-systune-in-julia/126583 "2025-03-25T08:20:31Z")

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Is there an alternative to the Matlab command systune in Julia? systune tunes fixed-structure control systems subject to both soft and hard design goals. systune can tune multiple fixed-order, fixed-structure control e…

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## [ModellingToolkit/ optimal control training](https://discourse.julialang.org/t/modellingtoolkit-optimal-control-training/122751)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 2\
**Last updated:** [November 18, 2024, 5:34am UTC](https://discourse.julialang.org/t/modellingtoolkit-optimal-control-training/122751 "2024-11-18T05:34:58Z")

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A colleague of me is going to attend a three-day CASADI training. I told him: Only advantage of CASADI over ModingToolkit is: “CASADI supports special functionality for quadratic programming problems”, in all other asp…

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## [Linear parameter varying control (LPV control)](https://discourse.julialang.org/t/linear-parameter-varying-control-lpv-control/121840)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 8\
**Last updated:** [October 28, 2024, 9:14am UTC](https://discourse.julialang.org/t/linear-parameter-varying-control-lpv-control/121840 "2024-10-28T09:14:30Z")

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I am trying to implement an LPV controller based on GitHub - JuliaControl/DiscretePIDs.jl: Discrete-time PID controllers in Julia The idea is easy: Use a controller for heading/ course with an inner and an outer loop. T…

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## [State Space Model with PID controller unstable in Julia compared to Matlab](https://discourse.julialang.org/t/state-space-model-with-pid-controller-unstable-in-julia-compared-to-matlab/117688)

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**Author:** [@lstagner](https://discourse.julialang.org/u/lstagner)\
**Replies:** 22\
**Last updated:** [August 2, 2024, 11:23am UTC](https://discourse.julialang.org/t/state-space-model-with-pid-controller-unstable-in-julia-compared-to-matlab/117688 "2024-08-02T11:23:21Z")

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I have the following code in Matlab that creates a stable system using a simple PID controller. %% Define system sys = ss(A,B,C,D); %% New state space sys\_new = sys(\[1379\],13); %% Define s domain Kp = 0; Ki = 0; % N…

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## [Linear Quadratic Integrator](https://discourse.julialang.org/t/linear-quadratic-integrator/113245)

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**Author:** [@iabraham](https://discourse.julialang.org/u/iabraham)\
**Replies:** 3\
**Last updated:** [April 20, 2024, 8:52am UTC](https://discourse.julialang.org/t/linear-quadratic-integrator/113245 "2024-04-20T08:52:14Z")

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The ControlSystems package seems to provide a lqr function for the LQR problem. I was wondering whether there was any plans to provide the lqi function for the Linear Quadratic Integrator problem. - e.g. Scilab or MATLAB …

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## [Improving performance of calculating Symbolics Jacobians?](https://discourse.julialang.org/t/improving-performance-of-calculating-symbolics-jacobians/112681)

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**Author:** [@Undermine28](https://discourse.julialang.org/u/Undermine28)\
**Replies:** 7\
**Last updated:** [April 8, 2024, 1:47pm UTC](https://discourse.julialang.org/t/improving-performance-of-calculating-symbolics-jacobians/112681 "2024-04-08T13:47:41Z")

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I am trying to calculate the Observation Matrix of a non-linear system. To do this I need to find more and more difficult Lie derivatives. This requires calculating recursive Jacobians. Very quickly, Symbolics seems to …

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## [\[ANN\] FiniteHorizonGramians.jl](https://discourse.julialang.org/t/ann-finitehorizongramians-jl/107325)

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**Author:** [@filtron](https://discourse.julialang.org/u/filtron)\
**Replies:** 0\
**Last updated:** [December 8, 2023, 12:50pm UTC](https://discourse.julialang.org/t/ann-finitehorizongramians-jl/107325 "2023-12-08T12:50:02Z")

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I’m pleased to announce FiniteHorizonGramians.jl. Given a pair of matrices (A, B), this package implements an algorithm for computing both the matrix exonential e^{A t}, and the finite horizon controllability Gramian ove…

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## [\[ANN\] AllocCheck.jl: Static code analysis to prove allocation-free behavior](https://discourse.julialang.org/t/ann-alloccheck-jl-static-code-analysis-to-prove-allocation-free-behavior/106414)

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**Author:** [@ChrisRackauckas](https://discourse.julialang.org/u/ChrisRackauckas)\
**Replies:** 27\
**Last updated:** [December 6, 2023, 10:56am UTC](https://discourse.julialang.org/t/ann-alloccheck-jl-static-code-analysis-to-prove-allocation-free-behavior/106414 "2023-12-06T10:56:02Z")

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JuliaHub is happy to announce a new open source tool for static code analysis to prove that a Julia function is allocation-free. Use this to ensure that codes are safe for real-time applications, such as how we use it fo…

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## [\[ANN\] ReactiveToolkit.jl: Build reactive, "soft" real-time systems in Julia for hardware-in-the-loop controls](https://discourse.julialang.org/t/ann-reactivetoolkit-jl-build-reactive-soft-real-time-systems-in-julia-for-hardware-in-the-loop-controls/106781)

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**Author:** [@narijauskas](https://discourse.julialang.org/u/narijauskas)\
**Replies:** 0\
**Last updated:** [November 27, 2023, 5:46am UTC](https://discourse.julialang.org/t/ann-reactivetoolkit-jl-build-reactive-soft-real-time-systems-in-julia-for-hardware-in-the-loop-controls/106781 "2023-11-27T05:46:42Z")

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I’m excited to announce a new package providing some tools to enable asynchronous, concurrent, reactive, “soft real-time” programming in Julia. The target audience of this package consists of roboticists working at the i…

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## [Normalizing a transfer function](https://discourse.julialang.org/t/normalizing-a-transfer-function/104834)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 3\
**Last updated:** [October 11, 2023, 10:20am UTC](https://discourse.julialang.org/t/normalizing-a-transfer-function/104834 "2023-10-11T10:20:24Z")

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Is there already a function to normalize a transfer function? I have: TransferFunction{Continuous, ControlSystemsBase.SisoRational{Float64}} -951.729934283765s^2 -----------------------…

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## [Examples for port-Hamiltonian modelling and control of physical systems?](https://discourse.julialang.org/t/examples-for-port-hamiltonian-modelling-and-control-of-physical-systems/103787)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 3\
**Last updated:** [September 14, 2023, 5:52pm UTC](https://discourse.julialang.org/t/examples-for-port-hamiltonian-modelling-and-control-of-physical-systems/103787 "2023-09-14T17:52:47Z")

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Are there any examples in Julia how to model and control port-Hamiltonian systems? See: https://www.math.rug.nl/arjan/DownloadLectures/Benelux08.pdf Can it be done with ModelingToolkit, or are there better ways?

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## [CAN bus library for Julia?](https://discourse.julialang.org/t/can-bus-library-for-julia/35292)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 4\
**Last updated:** [July 8, 2023, 6:39am UTC](https://discourse.julialang.org/t/can-bus-library-for-julia/35292 "2023-07-08T06:39:38Z")

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Good evening, Is there any package that supports to send and receive CAN bus messages for Julia? If not, would you suggest to use a Python library or a C/C++ library? There is a Python package: https://python-can.rea…

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## [How to plot the output of the PI controller?](https://discourse.julialang.org/t/how-to-plot-the-output-of-the-pi-controller/99789)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 2\
**Last updated:** [June 2, 2023, 9:53pm UTC](https://discourse.julialang.org/t/how-to-plot-the-output-of-the-pi-controller/99789 "2023-06-02T21:53:40Z")

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I have the following code: using ControlSystemsBase, Plots P\_sc = 4.42616018443722e6 I\_sc = 11838.3957271545\*4 P = tf(-1.898e-8, \[1, 0.01934\]) C = -pid(P\_sc, I\_sc) FS = feedback(P\*C) I can plot the step response of t…

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## [How to determine the -3dB frequency of a system](https://discourse.julialang.org/t/how-to-determine-the-3db-frequency-of-a-system/99755)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 4\
**Last updated:** [June 2, 2023, 4:06pm UTC](https://discourse.julialang.org/t/how-to-determine-the-3db-frequency-of-a-system/99755 "2023-06-02T16:06:44Z")

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I have the following system, controlled with a PI controller: using ControlSystemsBase, Plots P\_sc = 4.42616018443722e6 I\_sc = 11838.3957271545\*4 P = tf(-1.898e-8, \[1, 0.01934\]) C = -pid(P\_sc, I\_sc) PC = feedback(P\*C…

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## [@SDconstraint not working](https://discourse.julialang.org/t/sdconstraint-not-working/96685)

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**Author:** [@shaurya](https://discourse.julialang.org/u/shaurya)\
**Replies:** 2\
**Last updated:** [March 29, 2023, 8:00pm UTC](https://discourse.julialang.org/t/sdconstraint-not-working/96685 "2023-03-29T20:00:18Z")

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Hi, I’m new to Julia and this might be something very simple but I’m struggling to implement in JuMP. julia\> using JuMP julia\> using MosekTools julia\> model = Model(); julia\> @variable(model, x) x julia\> a = \[x 2x …

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## [Example for Linear Quadratic Gaussion control design](https://discourse.julialang.org/t/example-for-linear-quadratic-gaussion-control-design/11829)

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**Author:** [@ufechner7](https://discourse.julialang.org/u/ufechner7)\
**Replies:** 2\
**Last updated:** [December 4, 2022, 6:24pm UTC](https://discourse.julialang.org/t/example-for-linear-quadratic-gaussion-control-design/11829 "2022-12-04T18:24:21Z")

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Hello, My colleague and me wrote the following example for LQG design of a speed controller of a DC motor: using ControlSystems """ Example for designing an LQG speed controller for an electrical DC motor. """ # Const…

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