Bug shooting for Solver Infeasible (ACC2021)

[Highlight123]

Dear Dr. Zeng
Thanks for sharing this repo and your work in using NMPC, DCBF and DCLF for the safety and stability of non-linear dynamic systems. When I run testGamma.m and testHorizon.m in acc2021 with matlab2021a and Ipopt from https://ww2.mathworks.cn/matlabcentral/fileexchange/53040-ebertolazzi-mexipopt, I have the following problem. Thank you very much for your kind consideration and I am looking forward to your reply.
(1) testGamma.m
Run MPC-CBF with gamma 1.000000
solver time: 0.203114
solver time: 0.173155
solver time: 0.190210
solver time: 0.164076
solver time: 0.187111
solver time: 0.192042
solver time: 0.207878
The dimensions used for matrix multiplication are incorrect. Check to make sure that the number of columns in the first matrix matches the number of rows in the second matrix. To multiply by elements, use '.*'.
error: MPCCBF/sim (line 33)
xk = self.system.A * xk + self.system.B * uk;
error: testGamma (line 50)
controller_mpc_cbf_list{ind}.sim(time_total);
(2) testHorizon.m
Function or variable 'MPC_CBF' is not recognized.
error: testHorizon (line 57)
controller_mpc_cbf_3 = MPC_CBF(x0, system, params);

[junzengx14]

Hi, it appears to me to be an infeasible issue, are you running the code provided in this repository?
PS: I have a zipped IPOPT mex files to make sure we are on the same page.
PPS: I have another CDC paper (shown in README.md) that I would recommend you to have a look if you are interested in feasibility.

[Highlight123]

Dear Dr. Zeng
thank your support! I have read your ACC and CDC paper carefully. Your work is outstanding and innovative!
Bug shooting for Solver Infeasible is caused by the IPOPT version. The zipped IPOPT mex files seems to be oriented towards Mac rather than windows. May I ask you how to install Ipopt in windows and matlab2021a environment?

[junzengx14]

In fact, the zipped IPOPT mex files are supporting Mac and Ubuntu (16.04 and 18.04 at least, which I have tested). I don't know how to support Windows.

[junzengx14]

@hesuieins Do you have any experience of IPOPT in windows? Maybe we can add a zipped version of windows mex files if there are?

[hesuieins]

I have a zipped version for Windows. Should I upload it here or to the repo directly?

[junzengx14]

Could you make a PR for it?

[junzengx14]

@Highlight123 We merged a PR for supporting windows, please check it out.

[Highlight123]

Thank your help！This problem has been solved

[junzengx14]

@Highlight123 Please star and fork to support our work if possible, thanks!

[Highlight123]

Sure, I have star this work and follow Hybrid Robotics .