Model Predictive Control

  1. Modeling of linear, affine, piecewise affine and MLD systems.
  2. On-line and explicit MPC.
  3. Closed-loop simulation.
  4. Invariant set computation.

Geometric library

  1. Bounded and unbounded polyhedra.
  2. Lower-dimensional polyhedra.
  3. General convex sets.
  4. Operations on unions of convex sets.

Parametric optimization

  1. Parametric linear programming solvers.
  2. Parametric quadratic programming solvers.
  3. Parametric linear complementarity solvers.

Interfaces to standalone solvers

  1. Linear programming: CDD, GLPK, SeDuMi, CLP, QPOASES, CPLEX, GUROBI, NAG.
  2. Quadratic programming: SeDuMi, CLP, QPOASES, QPSPLINE, CPLEX, GUROBI, NAG.
  3. Mixed-integer optimization: GLPK, CPLEX, GUROBI.