cyrobot / pNMPC_CODEGEN

pNMPC: A Code Generation Tool For Implementation of pNMPC Controller For Embedded Control Systems

PNMPC Code Generation Tool

MATLAB/Simulink SETUP

To create a local repo of the project and use MATLAB/Simulink interface follow the steps

• Install GIT for your OS and platform version.
  • You can download GIT from the link GIT.
• Clone the pNMPC CODEGEN project using the command git clone https://github.com/Kartz4code/pNMPC_CODEGEN.git.
• Open MATLAB and add the cloned directory into MATLAB's environment path variable.
• Run "make clean" to clear any previous make files. This will also generate a folder named pNMPC_bin where the compiled binaries are stored.

MATLAB/Simulink interface (S-function) with 2D Crane example

S-function generation

• To generate S-Function make files, run make SFUNC. This will populate the pNMPC_bin directory with the object files required during the S-function compilation process.
• Open Main.m file, which is an example for design of pNMPC controller for 2D-Crane control.
• The syntax corresponds to MATLAB interface codes for the toolbox. Run the file to generate the S-function block in the Crane.slx Simulink file.
• Place the generated S-function block at appropriate place and connect the links.
• General Tip: To generate the S-function, call generateSFUNC(<Name of your Simulink file>). This is shown in the last line of Main.m file.

Caveat

As every software is not infallible to error, so is mine too. Kindly, feel free to try it and in case if you encounter any bugs, issues or errors let me know :). Your feedback would constanly motivate me to make this software a better one.