Model Predictive Control:Theory, Computation, and Design,2nd Edition. James B. Rawlings, David Q. Mayne, Moritz M. Diehl. Chapter 1 is introductory. It is intended for graduate students in engineering who have not yet had a systems course. But it serves a second purpose for those who have already taken the first graduate systems course. It derives all the results of the linear quadratic regulator and optimal Kalman filter using only those arguments that extend to the nonlinear and constrained cases to be covered in the later chapters. Instructors may find that this tailored treatment of the introductory systems material serves both as a review and a preview of arguments to come in the later chapters. Chapters 2-4 are foundational and should probably be covered in any graduate level MPC course. Chapter 2 covers regulation to the origin for nonlinear and constrained systems. This material presents in a unified fashion many of the major research advances in MPC that took place during the last 20 years. It also includes more recent topics such as regulation to an unreachable setpoint that are only now appearing in the research literature. Chapter 3 addresses MPC design for robustness, with a focus on MPC using tubes or bundles of trajectories in place of the single nominal trajectory. This chapter again unifies a large body of research literature concerned with robust MPC. Chapter 4 covers state estimation with an emphasis on moving horizon estimation, but also covers extended and unscented Kalman filtering, and particle filtering. Chapters 5-7 present more specialized topics. Chapter 5 addressesthe special requirements of MPC based on output measurement instead of state measurement. Chapter 6 discusses how to design distributed MPC controllers for large-scale systems that are decomposed into many smaller, interacting subsystems. Chapter 7 covers the explicit optimal control of constrained linear systems. The choice of coverage of these three chapters may vary depending on the instructor's or student's own research interests. Three appendices are included, again, so that the reader is not sent off to search a large research literature for the fundamental arguments used in the text. Appendix A covers the required mathematical background. Appendix B summarizes the results used for stability analysis including the various types of stability and Lyapunov function theory. Since MPC is an optimization-based controller, Appendix C covers the relevant results from optimization theory.

mpc-0.8.1.tar.gz 用于linux gcc 升级

mpc文件，作为编译gcc语言使用，在深度学习上可以编译caffe

这个MPC模块主要是基于matlab/simulink中的lane keeping assist system搭建的，具体详见博客https://blog.csdn.net/caokaifa/article/details/92378387

分别给出了无约束MPC和约束MPC的MATLAB程序

自动驾驶相关的MPC仿真算法，自己设计的一份自动驾驶资料。

simulink中mpc的部分资源，希望能够给你带来帮助！

simulink中mpc模块的详细说明，希望给你的设计带来帮助！

Gmp version 4.3.2 or higher Mpfr version 2.4.2 or higher Latest versionVersion 1.0.2

该算法为分布式预测控制程序算法，描述了每个子系统采取优化的策略。已经测试有效。