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[alexliniger]

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[coffear]

Hi, I would like to know if you tried a Simulink version of this algorithm, especially implemented with the built-in MPC toolbox in Simulink.
Thanks !

[alexliniger]

Maybe you can add the full C++ code into a simulink s-function block. But to be honest the last time I used Simulink is more than 10 years ago, so I am not sure what the best way is.

Regarding the MPC toolbox, I assume it is quite some work. Maybe it is the easiest to use the nonlinear MPC approach and formulate the MPCC directly as a non linear problem. In this case the biggest issue is to add the track into the problem, which I don't know how to best do since I never worked with the toolbox.