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arXiv · 2507.00863

REAP-T: A MATLAB Toolbox for Implementing Robust-to-Early Termination Model Predictive Control

Mohsen Amiri·Mehdi Hosseinzadeh
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Abstract

This paper presents a MATLAB toolbox for implementing robust-to-early termination model predictive control, abbreviated as REAP, which is designed to ensure a sub-optimal yet feasible solution when MPC computations are prematurely terminated due to limited computational resources. Named REAP-T, this toolbox is a comprehensive, user-friendly, and modular platform that enables users to explore, analyze, and customize various components of REAP for their specific applications. Notable attributes of REAP-T are: (i) utilization of built-in MATLAB functions for defining the MPC problem; (ii) an interactive and intuitive graphical user interface for parameter tuning and visualization; (iii) real-time simulation capabilities, allowing users to observe and understand the real-time behavior of their systems; and (iv) inclusion of real-world examples designed to guide users through its effective use.

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Mohsen Amiri, Mehdi Hosseinzadeh. 2025-07-01. REAP-T: A MATLAB Toolbox for Implementing Robust-to-Early Termination Model Predictive Control. https://arxiv.org/abs/2507.00863

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