Version 1.0

Author:

Daniel Landgraf, Andreas Völz, Knut Graichen,

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

Date:

2025-08-05

• Introduction
• Installation
• System class
• Implementation
  • Implementation of the problem description
  • Implementation of random variables and Gaussian processes
• Approximation of the stochastic OCP
  • Approximation of probabilistic constraints
  • Stochastic problem descriptions and uncertainty propagation
• Simulation and Visualization
  • Solver and Simulator
  • Using GRAMPC-S with Matlab/Simulink
• Example: Continuous stirred tank reactor
• Appendix
  • List of probability density functions
  • List of kernels for Gaussian processes