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...The framework provides tools to design and simulate controllers that maintain stability and constraint satisfaction in the presence of bounded disturbances. Tube-based MPC achieves robustness by combining a nominal trajectory planner with an error feedback controller that keeps the actual system state within a "tube" around the nominal trajectory. This repository includes example scripts and implementations demonstrating how to apply the method to control problems. It is particularly useful for researchers, students, and engineers exploring robust control strategies in uncertain environments. By offering a structured implementation, robust-tube-mpc makes it easier to study and extend advanced MPC techniques for real-world applications.