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

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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.