Version 2.3

Author:

Andreas Völz, Thore Wietzke, Knut Graichen,

Former contributors (GRAMPC version < 2.3): Tobias Englert, Felix Mesmer, Sönke Rhein

Former contributors (GRAMPC version < 2.0): Bartosz Käpernik, Tilman Utz

Chair of Automatic Control Friedrich-Alexander-Universität Erlangen-Nürnberg

Date:

2025-09-11

• Introduction
• Changelog
  • Changes in version 2.3 of GRAMPC:
  • Changes in version 2.2 of GRAMPC:
• Installation and structure of GRAMPC
  • Installation of GRAMPC for use in C with Cygwin
  • Installation of GRAMPC for use in C/C++ with CMake
  • Installation of GRAMPC for use in Matlab
  • Installation of GRAMPC for use in Python
  • Structure of GRAMPC
• Problem formulation and implementation
  • Optimization problem and parameters
  • Problem implementation
• Optimization algorithm and options
  • Optimization algorithm
  • Numerical Integration
  • Line search
  • Update of multipliers and penalties
  • Convergence criterion
  • Scaling
  • Control shift
  • Status flags
• Usage of GRAMPC
  • Using GRAMPC in C
  • Using GRAMPC in C++
  • Using GRAMPC in Matlab/Simulink
  • Using GRAMPC in Python
• Tutorials
  • Model predictive control of a PMSM
  • Optimal control of a double integrator
  • Moving horizon estimation of a CSTR
  • Differential algebraic equations
  • Constraint Tuning
• Appendix
  • List of parameters
  • List of options
  • GRAMPC data types
  • GRAMPC function interface