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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...
Linux ERT target controls code generation from Simulink for computer based on MPC5200 and Linux. The target contains support for CANopen via Simulink blockset which integrates the CANopen driver to the generated code.
This proyect was our Christmas homework for "Dinamic systems analisys" at Telecomunication Engineer at University of Oviedo. It's a simulation based on matlab and simulink of a cannon. Comments in spanish.