Design and implementation of model predictive control using Multi-Parametric Toolbox and YALMIP

The paper introduces a new version of the Multi-Parametric Toolbox (MPT), which allows model predictive control (MPC) problems to be formulated in an intuitive and user-friendly fashion. In addition to control synthesis, the toolbox can also be employed for stability analysis, verification and simulation of MPC-based strategies. The toolbox is also capable of converting MPC controllers into real-time executable code which can be easily deployed to typical hardware control platforms. The most notable feature of the new version is its ability to formulate and solve complex MPC problems involving non-trivial requirements, like logic relations, move blocking, or contraction constraints.