Implementing mpctools package (from Rawlings group) in Simulink

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.

Answer 1

[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