jMPC Toolbox

jMPC is a MATLAB toolbox which is a collection of m-files, Simulink models and compiled C-MEX functions for use in simulating and controlling dynamic systems using Model Predictive Control. Key functionality offered by this toolbox include:

• Easily build linear MPC controllers.
• Simulating controllers within linear and nonlinear environments.
• Embed the resulting MPC controller with autocode generation in C.
• Applying linear inequality constraints to inputs and outputs.
• Various Quadratic Programming (QP) solvers are provided to solve the quadratic cost function.
• Implement advanced functionality such as state estimation, blocking and soft constraints.
• View real-time MPC control using the supplied Graphical User Interface (GUI).
• Connect the Simulink MPC block to real world dynamic systems using an A/D and D/A.
• Demonstrate MPC using 3D animations of real systems.

This work is the result of my research into embedded MPC during my time at AUT University during my Ph.D. in 2009-2012 (i.e. a long time ago!).

Further Reading

My thesis also contains a huge amount of information on the development of jMPC, its motivation and some interesting case studies. However for most users, jump to the Examples page!