2002 Volume 38 Issue 7 Pages 617-623
This paper describes a piece of software that generates automatically a simulation program for nonlinear receding horizon control (NRHC). First, this paper summarizes the problem formulation and a real-time algorithm for NRHC. Then this paper describes the components and usage of the automatic code generation system named AutoGen and useful Mathematica functions for developing the system. A numerical example of a two-wheeled car is shown to demonstrate the developed system.