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If you have any questions related to the solver, visit theGitHub Discussions page. This guarantees accessibility for everyone.

The documentation is available attinympc.org

High-level language interfaces with detailed examples and code generation are available inPython,Julia, andMATLAB.

For Windows - Enablewsl before following prompts below

1. On terminal, clone this repo

git clone https://github.com/TinyMPC/TinyMPC.git

2. Navigate to root directory and run

cd TinyMPC&& mkdir build&&cd build

3. Run CMake configure step

cmake ..

4. Build TinyMPC

cmake --build.

• Run thequadrotor_hovering example

./examples/quadrotor_hovering

• Run thecodegen_cartpole example then follow the same building steps inside that directory

./examples/codegen_cartpole

If you are using TinyMPC, we encourage you to

• Cite the related papers:

@inproceedings{tinympc,      title={TinyMPC: Model-Predictive Control on Resource-Constrained Microcontrollers},       author={Khai Nguyen and Sam Schoedel and Anoushka Alavilli and Brian Plancher and Zachary Manchester},      booktitle={IEEE International Conference on Robotics and Automation (ICRA)},      year = {2024}}

@misc{tinympc2,      title={Code Generation for Conic Model-Predictive Control on Microcontrollers with TinyMPC},       author={Sam Schoedel and Khai Nguyen and Elakhya Nedumaran and Brian Plancher and Zachary Manchester},      year={2024},      eprint={2403.18149},      archivePrefix={arXiv},}

• Put a star ⭐ on this repository.

Excited to hear your TinyMPC success stories—share them with us!

Please report any issues via theGithub issue tracker. All types of issues are welcome including bug reports, documentation typos, feature requests and so on.

Numerical benchmarks against other solvers on MCUs are availablehere.

TinyMPC-integrated firmware on the Crazyflie nano-quadrotor is availablehere.

An earlier version (not optimized) which can deal with nonlinear dynamics (e.g., bicycle models) is availablehere.