CasaDi MPC to S-Function

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/

Name		Name	Last commit message	Last commit date
Latest commit History 16 Commits
.ipynb_checkpoints		.ipynb_checkpoints
LICENSE		LICENSE
M.casadi		M.casadi
README.md		README.md
f.c		f.c
f.h		f.h
mpc.ipynb		mpc.ipynb
mpc_from_V.ipynb		mpc_from_V.ipynb
nmpc.ipynb		nmpc.ipynb
parametric_mpc.ipynb		parametric_mpc.ipynb
s_function.c		s_function.c

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