hello,anyone have coding for Nonlinear model predcitive controller for using robots?

HELLO EVERYONE, I am doing project at NMPC controller in that i need coding for that controller design process. if anyone have that coding reply to this conversation. Thanking you

[Walter Roberson]

https://www.mathworks.com/matlabcentral/answers/89092-how-can-i-use-fmincon-to-set-up-a-nonlinear-model-predictive-control-for-mimo-plants