Implementing mpctools package (from Rawlings group) in Simulink

17 次查看（过去 30 天）
Anshul Paunikar
Anshul Paunikar 2023-7-13
评论： Dynamo 2025-3-28
I want to implement mpctools (https://sites.engineering.ucsb.edu/~jbraw/software/mpctools/index.html) in Simulink for a Non Linear MPC. It seems that CASADI offers a demo file for implementation of MPC using CASADI (https://web.casadi.org/blog/mpc-simulink/), however I am planning to use mpctools (IPOPT Solver), and not sure what modifications are needed.
(The state dynamics include states, control and disturbances, and I also want to impose constraints on states, control, and change in control)
I would prefer implementation using Interpreter Function or MATLAB System Object (Similar to CASADI Implementation), however if this package can also be used with a Model Predictive Controller Toolbox, I would appreciate that too.

请先登录，再回答此问题。

回答（1 个）

Emmanouil Tzorakoleftherakis
I cannot comments on mpctools, but if your objective is to use IPOPT in Simulink, Model Predictive Control Toolbox allows you to bring in your own solver. Please take a look at the following links for additional information:
https://www.mathworks.com/help/mpc/ug/generate-code-for-mpc-controller-with-custom-qp-solver.html
https://www.mathworks.com/help/mpc/ug/configure-optimization-solver-for-nonlinear-mpc.html#mw_3859c937-3374-44b2-80ca-d520b6003f54
  1 个评论
Dynamo
Dynamo 2025-3-28
Hello @Emmanouil Tzorakoleftherakis,
Thank you for your response on @Anshul Paunikar orginal post. I wasn't aware of solver configuration in NMPC blocks. I have a follow up question because I am also working on same problem and would like some guidance. when we are looking for optimization of NMPC for lower real-time computation load. Natural choice of engineers is CasADi or ACADOS, but implementation of either of these is painful in Simulink with existing NMPC setup. Albiet, one needs to code the NMPC in MATLAB independently, which does help in CodeGen and higher performance for real-time use, but the learning curve is very steep.
How does sqp solver perform against CasADi or ACADOS? What trade-offs we are expecting over implementation simplicity?
Is there any way CasADi or ACADOS can be integrated into Simulink for NMPC problems?
Thanks

请先登录，再进行评论。

类别

在 Help Center 和 File Exchange 中查找有关 Controller Creation 的更多信息

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by