Function 'fmincon' not supported for code generation
Hello, im currently trying to implement nonlinear MPC in MATLAB/Simulink using the MATLAB function block. function u_mpc = MPC(x, u_mpc, u_0, A_ineq, b_ineq, Q_mpc, R_mpc) costfunc = @(x,u) (x)'*Q_mpc*(x) + (u_mpc)'*R_mpc*(u_mpc); u_mpc = fmincon(costfunc, u_0, A_ineq, b_ineq); end The state x is provided by a plant model, the costfunction is a simple quadratic cost with weight matrices, the matrices are taken from the workspace. Running the Simulink model results in the error: Function 'fmincon' not supported for code generation. I'm using the 2018b version normally, tried using 2021a but got the same error. Is there a mistake in the code or is it simply not possible to use fmincon inside a MATLAB function block?
Neeta Dsouza answered .
2025-11-20
function u_mpc = MPC(x, u_mpc, u_0, A_ineq, b_ineq, Q_mpc, R_mpc)
costfunc = @(x,u) (x)'*Q_mpc*(x) + (u_mpc)'*R_mpc*(u_mpc);
options = optimoptions('fmincon','Algorithm','sqp');
Aeq = [];
beq = [];
lb = [];
ub = [];
nonlcon = [];
u_mpc = fmincon(costfunc,u_0,A_ineq,b_ineq,Aeq,beq,lb,ub,nonlcon,options);
end