This is the Control Toolbox (CT), an open-source C++ library for efficient modelling, control, estimation, trajectory optimization and model predictive control.

Shortcut to the quickstart tutorial

The CT is applicable to a broad class of dynamic systems, but features additional modelling tools specially designed for robotics. It's main focus is

• intuitive modelling of systems governed by ordinary differential- or difference equations.
• trajectory optimization, optimal control and (nonlinear) model predictive control
• a broad choice of Optimal Control solvers: iLQR, GNMS, Direct Multiple Shooting, etc.
• standard solver interfaces
• auto-differentiable rigid-body dynamics

Please find the documentation here

High-level reference can also be found in the following paper:

#!Bibtex @INPROCEEDINGS{giftthaler2018simpar, author={M. Giftthaler and M. Neunert and M. Stäuble and J. Buchli}, title={The control toolbox — An open-source C++ library for robotics, optimal and model predictive control}, booktitle={2018 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)}, year={2018}, pages={123-129}, doi={10.1109/SIMPAR.2018.8376281}, month={May},}