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NeuralMPCX: A Model Predictive Control library that supports classic MPC and neural MPC with CasADi

Lopes-Júnior, Ênio; Reinecke, Sebastian Felix

NeuralMPCX is a Python library for building and deploying Model Predictive Controllers with classic and neural dynamical models. You write constrained MPC with RNN/LSTM models in a CasADi/IPOPT workflow. The library handles CasADi RNN integration, warm-starting, constraint management, real-time feasibility, and both LTI state-space and neural dynamics in one framework. You can run neural and classical MPC controllers side by side.

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Publication date:
April 10, 2026
DOI:
10.14278/rodare.4601

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10.14278/rodare.4601

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Version v1.1.0 10.14278/rodare.4601 Apr 10, 2026
Version v1.0.0 10.14278/rodare.4568 Mar 20, 2026
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