Model Predictive Control (MPC) Tools PackageMPCTools is a control and estimation tool for linear and nonlinear dynamic models. Model predictive control hierarchy consists of three components: the estimator, the target calculator and the regulator. MPCTools provides an interface to CasADi solvers for each of these components to facilitate simulation of MPC on any system of interest. More information on the solvers can be found here.
MPCTools is written for use in GNU Octave but also supports Matlab. You will also need to download CasADi. Both MPCTools and Octave are freely redistributable software. You may redistribute it and/or modify it under the terms of the GNU Lesser General Public License (LGPL) and GNU General Public License (GPL), for MPCTools and Octave respectively, as published by the Free Software Foundation.
Because MPCTools is free software you are encouraged to help make it more useful by writing and contributing additional features for it, and by reporting any problems you may have.