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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.