Version 6.0, part of Release 2017b, includes the following enhancements:
- Economic MPC: Design and simulate model predictive controllers with arbitrary nonlinear cost function and constraints
- Fast MPC: Guarantee worst-case execution time by using approximate QP solution
- Custom QP Solvers: Generate code for third-party QP solvers written in C/C++ or MATLAB code suitable for code generation
- Mixed Input/Output Constraints: Update constraints on linear combinations of inputs and outputs at run time
- ADAS Examples: Design controllers for adaptive cruise control, autonomous vehicle steering, and obstacle avoidance
See the Release Notes for details.