TinyMPC uses a specialized ADMM-based method that exploits structure of the MPC problem via Riccati recursion.
The algorithm is absolutely division free it requires no assumptions on problem data (the problem only needs to be convex). It just works!
TinyMPC is free and will always be free for everyone. It is under the Apache 2.0 License.
TinyMPC has an easy interface to generate customized embeddable C code with no memory manager required.
TinyMPC supports many interfaces including C/C++, Matlab, Python, Julia.
TinyMPC only needs Eigen to run.
TinyMPC is small, but fast
We benchmarked TinyMPC against OSQP, the state-of-the-art QP solver, on microcontrollers.