Installation

System requirements

  • Operating system:

    • Mac OSX (tested on >=10.11), or

    • Ubuntu (tested on 20.04 LTS), or

    • Manjaro (tested on 5.9.16).

  • Compilers: gcc (clang), g++ (clang++)

Prerequisite packages and softwares

Note

To simplify the editing of the configuration file cflags, we suggest install Boost, Armadillo and HDF5 by using Homebrew (for Mac OSX) or apt (for Ubuntu).

  • Boost c++ libraries >= 1.69.0: libraries for graph searching, ode solvers;

  • Armadillo (tested on 9.900.2, 9.850.1, and 10.2.2): a c++ linear algebra library;

  • HDF5 (1.10.0/1.12.0): a high-performance data management and storage suite. Install the package from source code may take a while.

    • For Mac OSX users, using Homebrew for installation is stongly recommended.

    • For Ubuntu users, it is also suggested to install this package in Focal by running

      sudo apt install libhdf5-dev

    • Manjaro users can also use this package

  • MATLAB: control simulation and graphics. Installation of MATLAB is no longer mandatory for saving control synthesis results. Data saved in HDF5 format can also be loaded in MATLAB for simulation. Update the environment variable DYLD_LIBRARY_PATH in terminal if you have MATLAB installed and wish to save data in MATLAB data format:

    export DYLD_LIBRARY_PATH=“Your_MATLAB_install_path/bin/maci64:$DYLD_LIBRARY_PATH"

    export DYLD_LIBRARY_PATH=“Your_MATLAB_install_path/sys/os/maci64:$DYLD_LIBRARY_PATH”

  • Python 3: an alternative of MATLAB. Make sure the packages scipy, numpy, matplotlib, and h5py are installed. The following command can be used:

    pip3 install scipy numpy matplotlib h5py

Configuration of makefiles

In the configuration file cflags in the root path, the paths assigned to INCS and LDFLAGS might need to be changed accordingly.

  • For Mac OSX users, modify the path for the external packages to your actual install path, e.g.,

    EXTDIR := Your_package_install_path

    If the prerequisites are installed in different paths, make sure the paths are given correctly to INCS and LDFLAGS.

  • For Linux users, rename the file cflags-linux to cflags.

    • On Ubuntu, if HDF5 is installed via apt and mpi is not available, HDF5 may be installed only for serial compuation. In this case, the following changes may apply to the cflags:

      • Add to INCS the following path:

        -I$(INCDIR)/hdf5/serial

      • Change -lhdf5_hl and -lhdf5 to -lhdf5_serial_hl and -lhdf5_serial, respectively.

    • If HDF5 is installed by compiling the source code from HDF5 official website, make sure that zlib and szip are installed as in their instruction (release_docs/INSTALL). Use

      ./configure --prefix=Your_install_path --enable-cxx --with-szip=Path_to_szip

    to configure cmake. After installation, add to INCS the following paths:

    -I$(Your_install_path)/include -I$(Path_to_szip)/include

    and add to LDFLAGS the following paths:

    -I$(Your_install_path)/lib -I$(Path_to_szip)/lib

  • For all users, if you choose to save control synthesis results in MATLAB data format, make sure that MATLAB is installed and edit:

    MATDIR := Your_MATLAB_install_path

    Otherwise, comment out or delete the line starting with MATDIR.