User defined MotionType in jointSpaceMotionModel?

Hello everyone,

When using jointSpaceMotionModel from Matlab Robotics Toolbox (https://de.mathworks.com/help/robotics/ref/jointspacemotionmodel.html) you can specify the type of controller you want to use when controlling the motion of the robot. MotionType has default setting as computed torque controller, and the other two options are PDcontrol and IndependentJointMotion.

My question is: is there a way to control the jointSpaceMotionModel using a user defined controller? Perhaps a full state-feedback controller or an MPC controller (ones that are user-defined and not pre-defined Matlab scripts)?

Thank you in advance!