A Software Package for MPC Design and Tuning: MPT+

The industrial implementation of the model predictive control (MPC) is driven by the necessity to design, tune, and validate the constructed control policy. We present a novel software toolbox for advanced model predictive control (MPC) design extending the Multi-Parametric toolbox (MPT). Particularly, MPTplus introduces several advanced MPC controller design methods, including memory-efficient explicit tube MPC design, tube MPC controller with the limited rate of control actions, and a polynomial approximation of the 1-,
$\infty-\mathbf{norm}-\mathbf{based}$
explicit control law. The benefits of the proposed toolbox are demonstrated using both, numerical simulations and laboratory implementation on the device with fast dynamics.