Function 'fmincon' not supported for code generation

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Anuschan Albrecht
评论： Walter Roberson 2021-5-12
Hello,
im currently trying to implement nonlinear MPC in MATLAB/Simulink using the MATLAB function block.
function u_mpc = MPC(x, u_mpc, u_0, A_ineq, b_ineq, Q_mpc, R_mpc)
costfunc = @(x,u) (x)'*Q_mpc*(x) + (u_mpc)'*R_mpc*(u_mpc);
u_mpc = fmincon(costfunc, u_0, A_ineq, b_ineq);
end
The state x is provided by a plant model, the costfunction is a simple quadratic cost with weight matrices, the matrices are taken from the workspace.
Running the Simulink model results in the error: Function 'fmincon' not supported for code generation.
I'm using the 2018b version normally, tried using 2021a but got the same error.
Is there a mistake in the code or is it simply not possible to use fmincon inside a MATLAB function block?
Thanks in advance for any help.
  2 个评论
Anuschan Albrecht
Anuschan Albrecht 2021-5-8
Thanks for your fast answer!
On the help page you linked it says to not load options from a file so I added them inside the MATLAB function block:
function u_mpc = MPC(x, u_mpc, u_0, A_ineq, b_ineq, Q_mpc, R_mpc)
costfunc = @(x,u) (x)'*Q_mpc*(x) + (u_mpc)'*R_mpc*(u_mpc);
options = optimoptions('fmincon','Algorithm','sqp');
u_mpc = fmincon(costfunc, u_0, A_ineq, b_ineq,options);
end
This results in the error: Function 'optimoptions' not supported for code generation.

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采纳的回答

Aditya Patil
Aditya Patil 2021-5-11
编辑：Aditya Patil 2021-5-12
fmincon codegen support was added in R2019b. Also, optimOptions is the last argument for fmincon, you should pass other arguments as empty ([]) if you are not using them. For example,
function u_mpc = MPC(x, u_mpc, u_0, A_ineq, b_ineq, Q_mpc, R_mpc)
costfunc = @(x,u) (x)'*Q_mpc*(x) + (u_mpc)'*R_mpc*(u_mpc);
options = optimoptions('fmincon','Algorithm','sqp');
Aeq = [];
beq = [];
lb = [];
ub = [];
nonlcon = [];
u_mpc = fmincon(costfunc,u_0,A_ineq,b_ineq,Aeq,beq,lb,ub,nonlcon,options);
end
  9 个评论
显示 7更早的评论
Anuschan Albrecht
Anuschan Albrecht 2021-5-12
Using R2021a the code did indeed work, which is strange because I already tested an earlier iteration on a newer MATLAB version and it still produced errors. It probably had another coding mistake.
Anyways the code is running without errors on R2021a now, thanks for all the help!
Walter Roberson
Walter Roberson 2021-5-12
Good point about needing a later release! I normally think about that kind of issue early on, but I missed it this time!

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