MATLAB returns an error when calling the function: TubeMPCControllerPlotes: fixed
The partial set-based evaluation of the Time-Varying Cross Section Tube MPC was replaced by the full support-function-based evaluation in the function: TMPCController: fixed
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20260330
Improvements/changes:
Introduced a framework for the constraints-removal-based MPC design, enabling real-time acceleration of evaluation of the optimal control action via a novel module: conrem.
Fixed bugs:
none
Bugs and known limitations:
MATLAB returns an error when calling the function: TubeMPCControllerPlotes
Partial set-based evaluation of the Time-Varying Cross Section Tube MPC in the function: TMPCController: fixed
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20260328
Improvements/changes:
Introduced the Time-varying Tube MPC design, increasing the feasibility via parametrized time-varying shaping of the tube.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20241004
Improvements/changes:
Introduced the Elastic Tube MPC design enabling time-varying shaping of the tube.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20240424
Improvements/changes:
Introduced the Implicit Tube MPC design, enabling the handling of large-scale uncertain LTI systems.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20230614
Improvements/changes:
Introduced the polynomial approximation of the explicit MPC controllers towards the uncertain LTI systems.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus still displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.
MPTplus R20230331
Improvements/changes:
Introduced a framework for the explicit Tube MPC design.
Added the package for the design and verification of low-complexity explicit MPC controllers in MPT3: LowCom.
Introduced polynomial-based approximation of explicit control law.
Enabled depiction of the indexed explicit partition for the general explicit MPC controller.
Fixed bugs:
none
Bugs and known limitations:
The current version of MPTplus always displays for explicit Tube MPC controller confusing information on the prediction horizon N=1, although the controller is constructed correctly for any value of N.
The function .simulate works only for compact evaluation of control action (for solType == 1).
The PWQ cost function is always computed (and plotted) subject to the original decision variables of the optimization problem (i.e., the expanded control inputs: u_opt, x_opt) regardless of the setting of the parameter solType.