cover Lars Grüne | Jürgen Pannek

Nonlinear Model
Predictive Control

Theory and Algorithms

Springer-Verlag, London, 2017
2nd Edition, 2017, XIV, 456 p. 80 illus., ISBN 978-3-319-46023-9 (hardcover), 978-3-319-46024-6 (eBook)

Online version on (2nd edition, 1st edition)
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MATLAB NMPC routine and examples
Other MATLAB and MAPLE routines

We regret that the C++ routines that came with the book are no longer available.
As a substitute you may want to check the new Python code NMPyC

Errata for the 1st edition
Errata for the 2nd edition


  • 28th April 2018 - errors in Problem 2(a) and (c) in both editions reported (thanks to Anian Brosch)
    corrections can be found in the Errata
  • 13th March 2017 - Errata for the second edition added
  • 12th November 2016 - second edition released
  • 19th June 2012 - latest update of the Errata for the first edition
  • 30th May 2011 - bugfix in the MATLAB routine nmpc.m

© 2011-2023 Lars Grüne, Jürgen Pannek