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-# EWS-MPC
- Allrounder MPC for Automatic Control Project Course
+# Multi-Purpose MPC
+
+## Table of contents 
+
+1. [Introduction](#introduction)
+3. [Components](#components)
+   1. [MPC](#mpc)
+4. [How-To](#how_to)
+5. [Contributors](#contributors)
+
+# Introduction
+
+In this repository you find an implementation of a multi-purpose Model Predictive Controller. The controller was implemented as a contribution to the [Automatic Control Project Course (EL2425)](https://www.kth.se/student/kurser/kurs/EL2425) at KTH Royal Institute of Technology, Stockholm. 
+The developed algorithm was tested on a 1:10 RC car provided by KTH Smart Mobility Lab. The test scenarios comprised the following three tasks:
+
+1. Reference Path Tracking
+2. Time-Optimal Driving
+3. Obstacle Avoidance