Robust Nonlinear Optimal Control via System Level Synthesis.

This repository contains the MATLAB code that accompanies the research paper:

Leeman AP., Köhler J., Zanelli A., Bennani S., Zeilinger MN. “Robust Nonlinear Optimal Control via System Level Synthesis” IEEE Transactions on Automatic Control (forthcoming)

The paper will appear in IEEE Transactions on Automatic Control and is freely available on arXiv.

Prerequisites

• MATLAB (tested with version R2023b on Macbook Pro (M1 Processor))
• CasADi (tested with casadi-3.6.4-osx_arm64-matlab2018b)

Installation

1. Download and install MATLAB from the official website.

2. Install Casadi by following the instructions from the official Casadi documentation.

3. Clone this repository or download the code as a ZIP archive and extract it to a folder of your choice.

4. Add the code folder to your MATLAB path by running the following command in the MATLAB Command Window:

    addpath('/path/to/your/code/folder');
   

Usage

Run the main script (i.e., main.m) to execute the algorithms discussed in the paper.

License

This project is licensed under the MIT License.

Citation

If you use this code in your research, please cite our paper:

@article{leeman2024_nonlinearSLS,
title={Robust nonlinear optimal control via system level synthesis},
author={Leeman, Antoine P. and K{\"o}hler, Johannes and Zanelli, Andrea and Bennani, Samir and Zeilinger, Melanie N.},
journal={IEEE Transactions on Automatic Control (forthcoming)},
year={2024}
}

Support and Contact

For any questions or issues related to this code, please contact the author:

• Antoine Leeman: aleeman(at)ethz(dot)ch

We appreciate any feedback, bug reports, or suggestions for improvements.