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A gradient-based augmented Lagrangian framework for embedded NMPC
GRAMPC is a nonlinear MPC framework that is suitable for dynamical systems with sampling times in the (sub)millisecond range and that allows for an efficient implementation on embedded hardware. The algorithm is based on an augmented Lagrangian formulation with a tailored gradient method for the inner minimization problem. GRAMPC is implemented in plain C with an additional interface to C++ and MATLAB/Simulink.
The basic structure and usage of GRAMPC are described in the documentation...
The Dutchroll project provides Open Source applications for Matlab and Simulink, with the emphasis on aerospace engineering. The main application is the Flight Dynamics and Control toolbox; other applications will be derived from that toolbox.