├── .gitignore ├── Nominal_LMPC_Chapter ├── Ex1_LMPC_for_double_integrator │ ├── Ex1_LMPC_for_double_integrator.ipynb │ ├── LinearLMPC_RoA_comparison.pdf │ ├── LinearLMPC_cost.pdf │ └── fnc │ │ ├── FTO.py │ │ └── LMPC_CS.py ├── Ex2_LMPC_for_minimum_time_unicycle │ ├── Ex2_LMPC_for_minimum_time_unicycle.ipynb │ ├── NonlinearLMPC_Cost.pdf │ ├── NonlinearLMPC_Task.pdf │ └── fnc │ │ ├── FTO.py │ │ ├── LMPC_CT.py │ │ └── MIX_OL_CL.py └── Ex3_LMPC_for_autonomous_racing │ ├── Ex3_LMPC_for_autonomous_racing.ipynb │ ├── closedloop.pdf │ ├── fnc │ ├── PredictiveControllers.py │ ├── PredictiveModel.py │ ├── Track.py │ ├── Utilities.py │ └── plot.py │ ├── initControllerParameters.py │ └── predicted.pdf ├── README.md ├── Stochastic_Safe_Sets_Chapter └── Ex1_Sample_based_safe_set │ ├── Ex1_Sample_based_safe_set.ipynb │ ├── fnc │ ├── build_control_invariant.py │ ├── build_robust_invariant.py │ └── mpc.py │ └── invariant.pdf ├── py3.yml └── utils ├── .DS_Store ├── .gitignore ├── polytope.py ├── 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