PnPMPC: a toolbox for MatLab. The PnPMPC toolbox is a GNU-licensed MatLab toolbox for the modeling of constrained Large Scale Systems (LSS) with linear time-invariant dynamics, for the implementation of the Plug-and-Play (PnP) decentralized and distributed Model Predictive Control (MPC) and PnP state estimation. The PnPMPC toolbox offers also several functionalities for handling zonotopes set and for computing invariant sets

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  1. Riverso, Stefano; Farina, Marcello; Ferrari-Trecate, Giancarlo: Plug-and-play model predictive control based on robust control invariant sets (2014)