https://github.com/antoineleeman/nonlinear-parametric-synthesis
Matlab implementation of the paper "Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level Synthesis"
https://github.com/antoineleeman/nonlinear-parametric-synthesis
Last synced: about 2 months ago
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Matlab implementation of the paper "Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level Synthesis"
- Host: GitHub
- URL: https://github.com/antoineleeman/nonlinear-parametric-synthesis
- Owner: antoineleeman
- License: mit
- Created: 2024-04-24T16:41:17.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2024-04-24T16:42:09.000Z (about 1 year ago)
- Last Synced: 2024-04-24T19:16:14.593Z (about 1 year ago)
- Language: MATLAB
- Size: 13.5 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Robust optimal control for nonlinear systems with parametric uncertainties via system level synthesis.
This repository contains the MATLAB code that accompanies the research paper:
> Leeman AP., Sieber J., Bennani S., Zeilinger MN. “Robust optimal control for nonlinear systems with parametric uncertainties via system level synthesis”
> In Proc. 62th IEEE Conference on Decision and Control (CDC), pp. 4784-4791, 2023.
The paper is freely available on [arXiv](https://arxiv.org/abs/2304.00752) or [IEEE website](https://ieeexplore.ieee.org/document/10383271)
## Prerequisites
- MATLAB (tested with version R2020b)
- Casadi
## Installation
1. Download and install MATLAB from the [official website](https://www.mathworks.com/products/matlab.html).
2. Install Casadi by following the instructions from the [official Casadi documentation](https://web.casadi.org/get/).
3. Clone this repository or download the code as a ZIP archive and extract it to a folder of your choice.
4. Add the code folder to your MATLAB path by running the following command in the MATLAB Command Window:
addpath('/path/to/your/code/folder');
## Usage
Run the main script (i.e., main.m) to execute the algorithms and models discussed in the paper.
## License
This project is licensed under the MIT License.
## Citation
If you use this code in your research, please cite our paper:
```
@inproceedings{leeman2023_CDC,
title={Robust Optimal Control for Nonlinear Systems with Parametric Uncertainties via System Level Synthesis},
author={Leeman, Antoine P. and Sieber, Jerome and Bennani, Samir and Zeilinger, Melanie N.},
booktitle = {Proc. of the 62nd IEEE Conf. on Decision and Control (CDC)},
doi={10.1109/CDC49753.2023.10383271},
pages={4784-4791},
year={2023}
}
```
## Projects using this code
- [https://github.com/Gedlex/nonlinear-robust-MPC](https://github.com/Gedlex/nonlinear-robust-MPC) - Alexander Erdin's semester project: A comparison between the proposed method and a CCM-based Robust MPC alternative.
## Support and Contact
For any questions or issues related to this code, please contact the author:
- Antoine Leeman: aleeman(at)ethz(dot)ch
We appreciate any feedback, bug reports, or suggestions for improvements.