COLIBRY - A Counter Optimization Library for MATLAB

This paper presents COLIBRY, a freely-available, object-oriented toolbox for MATLAB, featuring a collection of optimization- and optimal control-based testing methods. The toolbox is intended for performing worst-case analyses of dynamic systems considering a combination of time-varying inputs and parameters. This type of analysis, referred to as counter optimization, is deemed useful in practice to facilitate the development, testing, and validation of complex systems, such as flight control algorithms. COLIBRY provides an intuitive high-level programming interface, allowing engineers to model, execute, and interpretworst-case analyses, while requiring only a high-level understanding of the underlying mathematical theory. This paper provides an overview of the implemented counter optimization methods as well as of the general toolbox design. Case studies demonstrate the application of the toolbox in practice.