TuneMPC is a Python package for economic tuning of nonlinear model predictive control (NMPC) problems.

More precisely, it implements a formal procedure that tunes a tracking (N)MPC scheme so that it is locally first-order equivalent to economic NMPC. For user-provided system dynamics, constraints and economic objective, TuneMPC enables automated computation of optimal steady states and periodic trajectories, and spits out corresponding tuned stage cost matrices.

The tool is publicly available at: