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 # do-mpc: Robust optimal control toolbox
 
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 **do-mpc** proposes a new, modularized implementation for optimization based model predictive control (MPC) and moving horizon estimation (MHE). **do-mpc** enables the efficient formulation and solution of control and estimation problems for nonlinear systems, including tools to deal with uncertainty and time discretization. The modular structure of do-mpc contains simulation, estimation and control components that can be easily extended and combined to fit many different applications.