LinearMPC.jl: A Julia Package for Embedded Linear Model Predictive Control

LinearMPC.jl is a Julia package for model predictive control (MPC) of linear systems.It provides a user-friendly development environment for designing, simulating, and deploying MPC controllers while targeting high-performance embedded implementations.The package bridges the gap between rapid prototyping in a high-level language and deployment on resourceconstrained hardware by generating allocation-free, library-free C code that can run on any microcontroller.LinearMPC.jlsupports both online optimization via the dual active-set quadratic programming (QP) solver DAQP (Arnström et al., 2022) and explicit MPC solutions computed by the multi-parametric QP solver ParametricDAQP (Arnström & Axehill, 2024).Additional features include robust MPC with constraint tightening, state estimation via Kalman filters, hybrid MPC with binary controls, game-theoretic MPC for Nash equilibria, and complexity certification for real-time guarantees.