MATLAB and C++ optimal control software
General-purpose software for multiple-phase nonlinear optimal control using hp-adaptive Gaussian quadrature collocation, sparse nonlinear programming, and MATLAB or C++ implementation paths.
GPOPS-II and CGPOPS transcribe continuous-time optimal control problems into sparse nonlinear programming problems, making difficult multiphase systems tractable in MATLAB or C++ workflows.
Use the MATLAB implementation for research, teaching, engineering studies, and rapid development of multiple-phase optimal control applications.
GPOPS-II includes IPOPT and the Sparse Optimization Suite (SOS) NLP solvers SPRNLP and BARNLP. An interface to SNOPT is also provided, but SNOPT must be obtained separately.
Use the C++ implementation when source-code integration, compiled workflows, or deployment outside MATLAB is the preferred path.
CGPOPS can be compiled with IPOPT or SNOPT. IPOPT is open-source; SNOPT must be obtained separately.
Model multiple phases, boundary conditions, path constraints, integral constraints, and static parameters in a unified problem structure.
Employs super-convergent Implicit Runge-Kutta (IRK) collocation using hp LGR collocation and a newly developed hp LGL collocation method to improve solution quality where the dynamics demand it.
Both products are designed for sparse nonlinear programming workflows, with solver availability depending on whether the MATLAB or C++ implementation is being used.
Review example problem statements, MathJax formulations, and solution figures for representative optimal control applications.
Acquiring Software
Customers can choose a GPOPS-II or CGPOPS license, add the appropriate product to the cart, and complete secure checkout.
Explore complete case studies with problem formulations, solution figures, and downloadable plot files for representative optimal control applications.
Please cite the appropriate ACM Transactions on Mathematical Software paper when publishing results obtained with GPOPS-II or CGPOPS.
| Software | Citation | Link |
|---|---|---|
| GPOPS-II | Patterson, M. A. and Rao, A. V. (2014), GPOPS-II: A MATLAB Software for Solving Multiple-Phase Optimal Control Problems Using hp-Adaptive Gaussian Quadrature Collocation Methods and Sparse Nonlinear Programming. ACM Transactions on Mathematical Software, 41(1), Article 1. | DOI |
| CGPOPS | Agamawi, Y. M. and Rao, A. V. (2020), CGPOPS: A C++ Software for Solving Multiple-Phase Optimal Control Problems Using Adaptive Gaussian Quadrature Collocation and Sparse Nonlinear Programming. ACM Transactions on Mathematical Software, 46(3), Article 25. | DOI |
Support
The site links to examples, license details, accessibility information, and contact information. Paid technical support can be added to the cart from the pricing page.