Unfortunately, Casadi is not directly compatible with Simulink. The Casadi package is an open source numerical suite for nonlinear optimization, using symbolic code generation and a numerical integrator. If you need to use Casadi for trajectory tracking, you would have to either compile and call Casadi from a Matlab script, or write your own solvers in Simulink.

Thank you so much for your kind response, Dear Mostak.

After some deeper searches, I could find a good example in the Casadi blog which has implemented the Casadi for optimal control of the Vanderpol system. You can catch it up from the following link:

https://web.casadi.org/blog/mpc-simulink/.

I could modify it for my problem (Nonlinear Model predictive control of a Wheeled Mobile Robot), but the tracking performance is not good as expected from an MPC controller. The tracking performance is sensitive to the cost function weighting factors and based I my knowledge the MPC weighting factors tunning is straightforward and should not be a challenging task.

Maybe I make mistakes in modifying the Simulink source file, but I checked the Simulink file over and over.

Moreover, I tried to convert the simulation file of the following code to the Simulink file and call the Casadi using the s-function, I did it but the simulation results is wrong.

https://github.com/MMehrez/MPC-and-MHE-implementation-in-MATLAB-using-Casadi/tree/master/workshop_github/Codes_casadi_v3_5_5/MPC_code.

Any positive experience in converting these examples to the Simulink file could help me.

Regards,

Hossein.