Nonlinear Model Predictive Control (MPC) Implementation in MATLAB from Scratch - Part 1

#controltheory #mechatronics #robotics #controengineering #mpc
The code files developed in this tutorial are given here (fee is required): https://ko-fi.com/s/a42ee648bc
It takes a significant amount of time and energy to create these free video tutorials. You can support my efforts in this way:
Buy me a Coffee: https://www.buymeacoffee.com/Aleksand...
PayPal: https://www.paypal.me/AleksandarHaber
Patreon: https://www.patreon.com/user?u=320801...
You Can also press the Thanks YouTube Dollar button


In this tutorial series, we explain how to formulate and numerically solve different versions of the nonlinear Model Predictive Control (MPC) problem. We implement the solution in MATLAB. The focus of this series is mainly on the practical implementation without going too deep into the theoretical aspects of nonlinear MPC. You are currently reading Tutorial 1. In this tutorial, we explain how to formulate an open-loop nonlinear MPC problem and how to approximate its solution in MATLAB. We use MATLAB's optimization toolbox and the function fmincon() to solve the MPC problem. Also, we use the function ode45() to integrate the dynamics.