nonlinear-control

A modular and scalable simulation framework for ultra-rapid prototyping of self-adaptive, stochastic and robust Nonlinear Model Predictive Control for Autonomous Vehicle Motion Control

reinforcement-learning deep-reinforcement-learning dynamical-systems control-systems autonomous-vehicles nonlinear-dynamics optimal-control bayesian-optimization model-predictive-control robust-control nonlinear-control autonomous-robots nonlinear-model-predictive-control

UpdatedJan 8, 2025
Python

SMARTlab-Purdue /robust-control-tutorial

Star63

Robust control tutorial by Purdue SMART Lab: Sliding Mode Control (SMC) with MATLAB/Simulink example implementation

tutorial robotics matlab uncertainty simulink robot-control control-theory robotics-control sliding-mode-control robust-control nonlinear-control control-tutorials controller-design

UpdatedApr 16, 2020

MahanFathi /LQR-RRTstar

Star61

LQR-RRT* method is used for random motion planning of a simple pendulum in it's phase plot

robot robotics nonlinear motion-planning rrt rrt-star trajectory-generation nonlinear-optimization lqr underactuatedrobotics simple-pendulum lqr-controller nonlinear-control lqg random-tree random-trajectory-generator

UpdatedMar 18, 2017
MATLAB

isri-aist /NMPC

Star59

Non-linear model predictive control (NMPC) library

cpp ros mpc nmpc nonlinear-control

UpdatedJun 12, 2025
C++

PREDICT-EPFL /polympc

Star54

Light-weight C++ library for fast embedded nonlinear optimisation and optimal control

nonlinear-optimization collocation model-predictive-control nonlinear-control

UpdatedOct 25, 2023
C++

MathewMithraNoel /Reinforcement-Learning-for-Nonlinear-Control

Star53

Control of a nonlinear liquid level system using a new artificial neural network based reinforcement learning approach

machine-learning-algorithms neural-networks reinforcement-learning-algorithms nonlinear-control process-control

UpdatedMar 13, 2019
MATLAB

vdorobantu /lyapy

Star42

Library for simulation of nonlinear control systems, control design, and Lyapunov-based learning.

machine-learning regression control-theory lyapunov-functions nonlinear-control

UpdatedNov 21, 2022
Python

eddardd /Control-Theory

Star31

Tutorials on Control Theory

python feedback matlab ode nonlinear-dynamics optimal-control control-theory pid-controller simulink-model python-control nonlinear-control linear-control

UpdatedNov 18, 2019
Jupyter Notebook

mathworks /Nonlinear-Model-Predictive-Control-Using-Koopman-Operator

Star28

This document explains the implementation of the Koopman Operator in conjunction with Model Predictive Control (MPC) to control a nonlinear system.

model-predictive-control nonlinear-control koopman-operator

UpdatedFeb 8, 2025
MATLAB

GPrathap /trajectory-tracker

Star26

drone ros trajectory-generation trajectory-optimization obstacle-avoidance nonlinear-control mpc-control

UpdatedFeb 3, 2024
C++

RylanSchaeffer /MIT2.152-Nonlinear-Control

Star22

MIT Spring 2020 Mechanical Engineering 2.152 Nonlinear Control (Professor Jean-Jacques Slotine)

nonlinear-dynamics adaptive-control lyapunov-functions robust-control nonlinear-control contraction-analysis

UpdatedDec 28, 2020
Python

pavelacamposp /direct-data-driven-mpc

Star19

Robust and nonlinear Direct Data-Driven MPC controllers for LTI and nonlinear systems in Python

data-driven mpc model-predictive-control robust-control nonlinear-control mpc-control data-driven-control data-driven-mpc

UpdatedSep 25, 2025
Python

arlk /SafeFeedbackMotionPlanning.jl

Star18

Safe Control for Nonlinear Systems

safety-critical adaptive-control nonlinear-control safe-control

UpdatedMay 23, 2020
Julia

a-shakouri /Prescribed-time-control

Star18

This repository includes different versions of the prescribed-time controller as Simulink blocks and MATLAB script codes for engineering applications.

robotic-systems nonlinear-control nonlinear-systems attitude-dynamics robot-manipulator prescribed-time-control finite-time-control fixed-time-control predefined-time-control nonasymptotic-control attitude-control-system