REAP-T: A MATLAB Toolbox for Implementing Robust-to-Early Termination Model Predictive Control

TL;DR

REAP-T is a MATLAB toolbox that facilitates the implementation and analysis of robust model predictive control solutions that remain feasible even when computations are prematurely terminated due to limited resources.

Contribution

This paper introduces REAP-T, a comprehensive MATLAB toolbox enabling users to implement, customize, and analyze robust-to-early termination MPC with real-time simulation and user-friendly features.

Findings

Supports real-time simulation of MPC systems.

Provides an intuitive GUI for parameter tuning.

Includes real-world examples for effective use.

Abstract

This paper presents a MATLAB toolbox for implementing robust-to-early termination model predictive control, abbreviated as REAP, which is designed to ensure a sub-optimal yet feasible solution when MPC computations are prematurely terminated due to limited computational resources. Named REAP-T, this toolbox is a comprehensive, user-friendly, and modular platform that enables users to explore, analyze, and customize various components of REAP for their specific applications. Notable attributes of REAP-T are: (i) utilization of built-in MATLAB functions for defining the MPC problem; (ii) an interactive and intuitive graphical user interface for parameter tuning and visualization; (iii) real-time simulation capabilities, allowing users to observe and understand the real-time behavior of their systems; and (iv) inclusion of real-world examples designed to guide users through its effective use.