Code Generation

Generate code and deploy controllers on real-time targets

Once you have validated a model predictive controller in Simulink^® or MATLAB^®, you can generate code and deploy it for real-time control applications. For more information, see Generate Code and Deploy Controller to Real-Time Targets.

Functions

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MATLAB Code Generation

Linear MPC

`getCodeGenerationData`	Create data structures for `mpcmoveCodeGeneration`
`mpcmoveCodeGeneration`	Compute optimal control moves with code generation support

Nonlinear MPC

`getCodeGenerationData`	Create data structures for `nlmpcmoveCodeGeneration`
`nlmpcmoveCodeGeneration`	Compute nonlinear MPC control moves with code generation support

Generate MEX File

buildMEX Build MEX file that solves an MPC control problem

Custom QP Applications

`mpcActiveSetSolver`	Solve quadratic programming problem using active-set algorithm
`mpcActiveSetOptions`	Create default option set for `mpcActiveSetSolver`
`mpcInteriorPointSolver`	Solve a quadratic programming problem using an interior-point algorithm
`mpcInteriorPointOptions`	Create default option set for `mpcInteriorPointSolver`
`setCustomSolver`	Configures an MPC object to use the QP solver from Optimization Toolbox as a custom solver (Since R2021b)

Blocks

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MPC Controllers

MPC Controller	Simulate model predictive controller
Adaptive MPC Controller	Simulate adaptive and time-varying model predictive controllers
Explicit MPC Controller	Explicit model predictive controller
Multiple MPC Controllers	Simulate switching between multiple implicit MPC controllers
Multiple Explicit MPC Controllers	Multiple explicit MPC controllers
Nonlinear MPC Controller	Simulate nonlinear model predictive controllers

Automated Driving

Adaptive Cruise Control System	Simulate adaptive cruise control using model predictive controller
Lane Keeping Assist System	Simulate lane-keeping assistance using adaptive model predictive controller
Path Following Control System	Simulate path-following control using adaptive model predictive controller

Topics

Code Generation Basics

Generate Code and Deploy Controller to Real-Time Targets
Model Predictive Control Toolbox™ software provides code generation functionality for controllers designed in Simulink and MATLAB.
QP Solvers for Linear MPC
The model predictive controller QP solvers convert an MPC optimization problem to a general form quadratic programming problem.

Code Generation from Simulink

Simulation and Code Generation Using Simulink Coder
Simulate your MPC controller in Simulink and generate real-time code that uses either double-precision or single-precision signals.
Simulation and Structured Text Generation Using Simulink PLC Coder
Simulate your MPC controller in Simulink and generate structured text for programmable logic controllers.
Using MPC Controller Block Inside Function-Call and Triggered Subsystems
To ensure that an MPC controller works properly inside a Function-Call or triggered subsystem, configure the MPC Controller block to use inherited sample time and invoke the subsystem periodically with the same sample time defined in the MPC controller object.
Run Field Oriented Control of PMSM Using Model Predictive Control (Motor Control Blockset)
This example uses Model Predictive Control (MPC) to control the speed of a three-phase permanent magnet synchronous motor (PMSM).

Code Generation from MATLAB

Generate Code to Compute Optimal MPC Moves in MATLAB
Generate C code to compute manipulated variable moves for real-time applications.
Solve Custom MPC Quadratic Programming Problem and Generate Code
You can implement a custom MPC control algorithm that supports C code generation in MATLAB using the built-in QP solver, mpcqpsolver.
Generate Code to Plan and Execute Collision-Free Trajectories Using KINOVA Gen3 Manipulator
Use nonlinear MPC to plan and execute trajectories for a robot manipulator.

CUDA Code Generation

Use the GPU to Compute MPC Moves in MATLAB
Simulate your MPC controller in MATLAB using the GPU.
Use the GPU to Simulate an MPC Controller in Simulink
Simulate your MPC controller in Simulink using the GPU.

Using Custom Solvers

Simulate and Generate Code for MPC Controller with Custom QP Solver
Generate code for a model predictive controller that uses a custom quadratic programming solver.
Implement MPC Controllers Using Embotech FORCESPRO Solvers
Use Embotech FORCESPRO Solvers with the Model Predictive Control Toolbox to solve MPC problems and deploy controllers to real-time targets.

OPC Simulation

Real-Time MPC Simulation Using OPC Client
Implement an online model predictive controller application using the OPC client supplied with the Industrial Communication Toolbox™.

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