[ANN] ModelPredictiveControl.jl

franckgaga
Sat, 10 Jun 2023 18:10:43 +0000
Package Announcements

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 exploits multiple dispatch.

The optimization is based on JuMP.jl, allowing to quickly compare the performances of many optimizers.

The nonlinear predictive controller, and also the extended Kalman Filter and the moving horizon estimator (both will be added soon), uses automatic differentiation for the Jacobian.

Both internal model structure (classical approach) and closed-loop state estimator (modern approach) are supported for the feedback.

The nonlinear predictive controller based on a linear model (e.g. economic optimization of a linear plant model) computes the prediction with matrices instead of a for loop.

The nonlinear predictive controller automatically designs an adequate state estimator for the feedback, contrarily to nlmpc in MATLAB.

etc.

Feedback is certainly welcome!

Francis Gagnon

68 posts - 12 participants