Does Simulink Coder support code generation of custom solver functions for Nonlinear MPC blocks?

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

Answer 1

[Emmanouil Tzorakoleftherakis]

Hi Arnold,

Unfortunately, right now you can only generate code using 'fmincon'. Custom nlp solvers can currently only be used for simulation. I have let the development team know about this and we will take a look at a future release.

Thanks for bringing this workflow to our attention

[Arnold Sterle]

Thanks for clarifying!