TOMPC (time optimal MPC) is a control technique developed within the MPC framework which minimizes the settling time of a system on a step reference. This technique is in detail described in [1]. The package consists of an implementation of this software in C++ and a control setup example in Simulink. Experimental validation of TOMPC on an overhead crane can be found here [2].
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references
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Van den Broeck, L., Diehl, M., Swevers, J. A Model Predictive Control Approach
for Time Optimal Point-to-point Motion Control IFAC Mechatronics (submitted) -
Van den Broeck, L., Diehl, M., Swevers, J. Experimental validation of Time Optimal MPC on a flexible motion system. Proceedings of the 2011 American Control Conference. San Francisco, 29 June - 1 July 2011
