How to understand Model Predictive Control

This page summarizes the projects mentioned and recommended in the original post on /r/ControlTheory

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  1. acados

    Fast and embedded solvers for nonlinear optimal control

    I would check out CasADi (specifically the opti framework) and or ACADOS. To code up a quick MPC in general is not hard, but to squeeze efficiency and exploit sparsity for good real-time performance is a little more involved and these tools really help with that.

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  3. do-mpc

    Model predictive control python toolbox

  4. pyomo

    An object-oriented algebraic modeling language in Python for structured optimization problems.

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