I have designed a nonlinear model predictive controller using
MpcObj = nlmpc(nx,ny,nu);
Since I want to use my own solver I have set the according property, i.e.,
MpcObj.Optimization.CustomSolverFcn = "CustomSolverInterface"
Using MpcObj, I prepared a Simulink model calling this object via the Nonlinear MPC block. When running in Simulink, the outputs are as expected.
So I built C-code using the Simulink Coder add-on. Doing so yields an executable which generats a logging file where I can inspect the outputs. However, they now have the same trajectory as if I had used fmincon instead of my custom solver.
So I am wondering whether Simulink Coder supports code generation with custom solvers. If yes, what are the limitations for that?
Best,
Arnold
