Self-Tuning Tube Based MPC

Authors: Damianos Tranos, Alessio Russo, Alexandre Proutiere

Code author: Alessio Russo (alessior@kth.se)

Usage

In the known_B folder, run mpc_problem.py to obtain a plot like the one in the paper. The MPC optimization problem is defined in utils.py.

Requirements

• Python 3.9
• Libraries: matplotlib numpy scipy cvxpy mosek
• MOSEK Solver

See also the requirements.txt file.

License

All the code is released with MIT license.