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<p class="MsoNormal">Hello Martijn,<o:p></o:p></p>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="EN-US">we used IPOPT for solving the NLP arising in NMPC(MHE) in a MALTAB/Simulink S-function together with xPC-Target.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">Our steps were:<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Download IPOPT (version prior to 3.10, we used 3.9, because there are problems with 3.10 and MS Visual Studio)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Compile the source code as described with MS Visual Studio (look in ..CoinIpopt\Ipopt\MSVisualStudio\v8)<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Compile the test program with 32bit. Our MATLAB 2011a xPC Version only worked properly with 32bit.<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Now, you should have 5 libraries (*.lib) that can be linked statically to your Simulink program
<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">Static link is necessary for xPC Target, as your whole program is sent to the target PC
<o:p></o:p></span></p>
<p class="MsoListParagraph" style="text-indent:-18.0pt;mso-list:l0 level1 lfo1"><![if !supportLists]><span lang="EN-US"><span style="mso-list:Ignore">-<span style="font:7.0pt "Times New Roman"">
</span></span></span><![endif]><span lang="EN-US">As much as we know you have to write your own S-function where you invoke IPOPT to solve your problem. We used the C interface of IPOPT in a C MEX S-Function<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US">You can contact me personally, if you want further information on how to build IPOPT for use in MATLAB/Simulink S-function. We controlled a real-world inverted pendulum with NMPC. I would also give you the simulation
files, which are almost identical to the test rig control files. Just contact me.</span><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Best Regards<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Simon<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">-----------------------------------------------------<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Dipl.-Ing. Simon Altmannshofer<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Lehrstuhl für Regelu</span><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">ngstechnik<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Technische Universität München<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Boltzmannstraße 15<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">85748 Garching bei München<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Tel.: +49 (89) 289-15679<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Fax: +49 (89) 289-15653<o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">E-Mail:
<a href="mailto:tobias.kloiber@tum.de">simon.altmannshofer@tum.de</a><o:p></o:p></span></p>
<p class="MsoNormal"><span style="font-size:10.5pt;font-family:Consolas;mso-fareast-language:EN-US">Internet:
<a href="http://www.rt.mw.tum.de">www.rt.mw.tum.de</a><o:p></o:p></span></p>
<p class="MsoNormal"><o:p> </o:p></p>
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