MATLAB/Simulink code update

Matlab_scripts/casadi_gp_mpc.m

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+clear all
+close all
+clc
+
+%% Import CasADi
+addpath('/home/radu/Media/MATLAB/casadi-linux-matlabR2014b-v3.5.5')
+import casadi.*
+
+load("gpr_model.mat")
+%% Initialize casadi callback
+cs_model = gpCallback('model');
+
+T_set = 20;
+N_horizon = 5;
+n_states = 7;
+
+
+COP = 5; %cooling
+EER = 5; %heating
+Pel = 6300; % Electric Power Consumption of the HVAC
+
+u_min = - COP * Pel;
+u_max =   EER * Pel;
+
+J = 0; % optimization objective
+g = []; % constraints vector
+
+% Set up the symbolic variables
+U = MX.sym('U', N_horizon, 1);
+W = MX.sym('W', N_horizon, 2);
+x0 = MX.sym('x0', 1, n_states - 3);
+
+% setup the first state
+wk = W(1, :);
+uk = U(1); % scaled input
+xk = [wk, Pel*uk, x0];
+yk = cs_model(xk);
+J = J + (yk - T_set).^2;
+
+% Setup the rest of the states
+for idx = 2:N_horizon
+    wk = W(idx, :); 
+    uk_1 = uk; uk = U(idx);
+    xk = [wk, Pel*uk, Pel*uk_1, yk, xk(5:6)];
+    yk = cs_model(xk);
+    J = J + (yk - T_set).^2;
+end
+    
+p = [vec(W); vec(x0)];
+
+nlp_prob = struct('f', J, 'x', vec(U), 'g', g, 'p', p);
+
+opts = struct;
+%opts.ipopt.max_iter = 5000;
+opts.ipopt.max_cpu_time = 15*60;
+opts.ipopt.hessian_approximation = 'limited-memory';
+%opts.ipopt.print_level =1;%0,3
+opts.print_time = 0;
+opts.ipopt.acceptable_tol =1e-8;
+opts.ipopt.acceptable_obj_change_tol = 1e-6;
+
+solver = nlpsol('solver', 'ipopt', nlp_prob,opts);
+
+real_x0 = [0,  23,  23,  23];
+real_W = [[57.9261000000000;54.9020333333334;73.8607000000000;76.0425333333333;64.9819666666667], [22; 22; 22; 22; 22]];
+
+real_p = vertcat(vec(DM(real_W)), vec(DM(real_x0)));
+
+
+res = solver('p', real_p, 'ubx', EER, 'lbx', -COP);
+%% Interpret the optimization result
+x = Pel * full(res.x);
+X = [real_W, x, [real_x0; zeros(N_horizon -1, size(real_x0, 2))]];
+
+X(2:end, 4) = X(1:end-1, 3);
+
+for idx=2:N_horizon
+    X(idx, 5) = full(cs_model(X(idx - 1, :)));
+    X(idx, 6:7) = X(idx - 1, 5:6);
+end
+T_horizon = cs_model(X');
+
+
+figure; hold on;
+plot(1:N_horizon, full(T_horizon));
+plot(1:N_horizon, T_set*ones(1, N_horizon));