Tube MPC Extension of MPT: Experimental Analysis

The success of the real-world implementation of advanced control policies relies on the robustness of the designed control laws. This paper presents a new software package for the robust model predictive control (MPC) synthesis in the framework of the Multi-Parametric toolbox (MPT) that is representing one of the most successful open-source tools in this field. In this paper, we introduce the Tube MPC design in a user-friendly way. The goal of the paper is to demonstrate that the wide research community may benefit from the ease of the advanced controller design in a few lines of code and its implementation to control the laboratory plant.