Design and verification of low-complexity explicit MPC controllers in MPT3

This paper reviews the Multi-Parametric Toolbox 3, a new version of the easy-to-use software tool for design, verification, and implementation of optimization-based controllers. Specifically, we introduce advanced building blocks which allow to synthesize and analyze explicit representations of model predictive controllers of low real-time implementation complexity. These building blocks include, but are not limited to, integration of functions over polytopes, computational geometry operations, as well as procedures to analyze invariance and closed-loop stability. We show how to combine these building blocks as to create sophisticated algorithms which lead to well-performing, yet simple controllers which adhere to prescribed requirements.