This repository provides the essential MATLAB code to implement the CCTMPC scheme as described in our paper [1]. The scripts for generating the two numerical examples presented in the paper are located in the examples folder.

Linear Time-Invariant System in 2D

Vehicle Lateral Dynamics

The following software packages are required to run the code. To enhance the accuracy of the main Quadratic Programming (QP) problem, we recommend using Gurobi. All these tools offer free academic licenses.

• MATLAB Control System Toolbox
• MOSEK
• IBM ILOG CPLEX
• MPT3 with YALMIP
• CasADi for IPOPT

Before running any of the provided examples, please ensure that the library imports align with your system’s PATH. Once this step is done, the code is self-contained and executing it will generate the above plots (as well as the Lyapunov cost over time) in the figures folder.

If you find this package useful, please consider giving this repository a star as a token of appreciation. We welcome contributions to the code. If you encounter a bug, or if you have suggestions for new features, please post them on the issue page.

If our work has contributed to your research, we kindly ask you to acknowledge it by citing our paper.

@ARTICLE{10546969,
  author={Badalamenti, Filippo and Mulagaleti, Sampath Kumar and Bemporad, Alberto and Houska, Boris and Villanueva, Mario Eduardo},
  journal={IEEE Control Systems Letters}, 
  title={Configuration-Constrained Tube MPC for Tracking}, 
  year={2024},
  volume={8},
  number={},
  pages={1174-1179},
  doi={10.1109/LCSYS.2024.3408750}
}