A generic Linear Model Predictive Control library in MATLAB.
Compatible backend solvers are quadprog, OSQP and qpOASES. MPC problems can be switched from solver to solver by a single parameter change allowing easy comparisons of solve time and solve quality between different QP solvers.
The default solver in this library is MATLAB Optimization Toolbox's built in quadprog function. To use this, just clone the repo locally and run test_solvers.m.
This library also supports qpOASES and OSQP as backend solvers.
To setup qpOASES, follow the instructions here (under doc/manual) to setup the MATLAB bindings of qpOASES on your machine. Make sure that the folder qpOASES/interfaces/matlab is added to the MATLAB path.
To setup OSQP, follow the instructions here to clone and build OSQP on your machine. You can try using the precompiled binaries but I highly recommend just cloning and building from source. Make sure that the osqp-matlab folder is added to your MATLAB path.