Welcome to PolyMPC documentation!

PolyMPC an open-source C++ library for real-time embedded nonlinear optimal control that combines high computational performance, modularity and a simple and intuitive user interface. PolyMPC is a lightweight collection of optimised and loosely coupled tools for nonlinear optimisation and optimal control which includes several quadratic programming (QP) and nonlinear programming (NLP) solvers, quasi-Newton Hessian approximation and Hessian regularisation methods, a polynomial interpolation and approximation module and an implementation of the Chebyshev pseudospectral collocation method, a continuous algebraic Riccati equation (CARE) solver, linear quadratic regulator (LQR), and more.

Contents:

• Overview
• Installation
• Optimisation Kernel
• Nonlinear Optimal Control
• Examples and Applications
• Bibliography

Indices and tables

• Index

• Module Index

• Search Page

Contacts

Petr Listov - plistov@gmail.com