The gradient based nonlinear model predictive control software GRAMPC

This paper presents the nonlinear model predictive control (MPC) software GRAMPC (GRAdient based MPC - [græmp'si:]) which is suited for controlling nonlinear systems with input constraints in the (sub)millisecond range. GRAMPC is based on a real-time solution strategy in combination with a (projected) gradient method. It is written in plain C with an interface to MATLAB/SIMULINK and also provides a graphical user interface (GUI) in MATLAB for a convenient MPC design and tuning. The performance of GRAMPC is demonstrated by two examples from different technical fields. Additionally, some comparison results with established MPC software are provided.