Integration of Matlab/Simulink Model in TwinCAT 3

For a rapid control prototyping application. I would like to execute, already designed control algorithms in Matlab/Simulink, in the TwwinCAT real-time development environment. Currently I am working with Matlab Release (R2014b) and a TwinCAT 3.1 Build 4024. To ensure a properly integration and interconnecting of the Matlab/Simulink models within TwinCAT, I have some questions: • Is it necessary to update my Matlab release, to ensure a properly integration of the Simulink models in the TwinCAT 3.1 Environment? • To generate TwinCAT modules running in the eXtended Automation run-time, I need to extend my Matlab release with Matlab and Simulink Coder, and I need also to purchase the TwinCAT Target for Matlab (TE1400), according to Beckhoff homepage I also need to purchase the TwinCAT interface for Matlab (TE1410). In this context I would like to know if the module TE1410 also required to running the Matlab Models in TwinCAT ? • For my application I have to test different complicated control algorithms such as “fuzzy controller with disturbance observer” or “H infinity controller with Kalman Filter”. In this case I am asking, if it is possible to generate easily and directly a C code from such Simulink models and run it in the TwinCAT real-time environment, without explicitly to write own MEX-files or S-functions? •Lastly I would like to know, which kind of communication tools would you recommend for data exchange between TwinCAT and Matlab/Simulink?

Finally I would like to thank you in advance for your support