Description

Source codes of the numerical experiments in "A Double-Layer Jacobi Method for PDE-Constrained Nonlinear Model Predictive Control"

Requirements

• MATLAB Coder (with a supported compiler)
• Symbolic Math Toolbox

Run double-layer-jacobi in MATLAB

1. Go to double-lay-jacobi/2dHeat/
2. Run NMPC_Problem_Formulation.m
3. Run Simu_Matlab_Codegen.m to generate C code
4. Run ./Simu_Matlab.exe in MATLAB Command Line

or

3. Simu_Matlab.m
4. Run visualRec.m to visualize the simulation results

Run ParNMPC in MATLAB

1. Go to ParNMPC/2dHeat/
2. Run NMPC_Problem_Formulation.m
3. Run Simu_Matlab_Codegen.m to generate C code
4. Run ./Simu_Matlab.exe in MATLAB Command Line

or

3. Run Simu_Matlab.m
4. Run visualRec.m to visualize the simulation results

Run casadi-ipopt in MATLAB

Run multiple-shooting NMPC

1. Go to casadi-ipopt/2dHeat/
2. Run casadi_nmpc_multipleshooting.m to generate C code
3. Run Simu_Matlab_casadi_nmpc_multipleshooting.m

Run single-shooting NMPC

1. Go to casadi-ipopt/2dHeat/
2. Run casadi_nmpc_singleshooting.m
3. Run Simu_Matlab_casadi_nmpc_singleshooting.m