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Casadi MPC to matlab S-Function example

License: MIT License

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casadi mpc s-function

ball_beam's Introduction

This folder contains some examples on how to use CasaDi to generate an S-Function. The examples are specific for the Ball And Beam model.

Run mpc.ipynb to generate f.c and f.h
Inside f.c edit casadi_real_min definition from not defined to a low value (for ex 1e-8)
Open MATLAB and run:

mex s_function.c f.c

Note that IPOPT is not directly supported. To use IPOPT see: https://web.casadi.org/blog/mpc-simulink2/

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