PythonLinearNonLinearControl is a library implementing the linear and nonlinear control theories in python.

cem ddp ilqr linear-control model-based-rl model-predictive-control mpc mppi nmpc nonlinear-control optimal-control reinforcement-learning

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README.md

linear_nonlinear_control

Implementing the linear and nonlinear control theories. For an instance, model predictive control, nonlinear model predictive control, sliding mode control etc

Now you can see the examples of control theories as following

Iterative Linear Quadratic Regulator (iLQR)
Nonlinear Model Predictive Control (NMPC) with CGMRES
Linear Model Predictive Control (MPC)(as generic function such as matlab tool box)
Extended Linear Model Predictive Control for vehicle model

Usage and Details

you can see the usage in each folder

Basic Requirement

python3.5 or more
numpy
matplotlib

License

MIT