GRAMPC in MATLAB/Simulink R2012b - Crash

[Ingo Walch]

Hi everyone,

i'm testing your toolbox in MATLAB R2012b at the moment because i'm planning to design an MPC for some simulations in an old Simulink project environment. Therefore I try to run your PMSM example.

Basically the whole thing works out with your "grampc_R2010a_TEMPLATE.mdl" and I can simulate it. However about every second time I run "initData.m" MATLAB crashes completely.

Moreover it happened twice that after the crash MATLAB would not start again and I had to reinstall it completely. In this case the following error log shows up in the MATLAB path when trying to launch MATLAB:

#
# A fatal error has been detected by the Java Runtime Environment:
#
#  EXCEPTION_ACCESS_VIOLATION (0xc0000005) at pc=0x00007ff843ce36f2, pid=15868, tid=492
#
# JRE version: 6.0_17-b04
# Java VM: Java HotSpot(TM) 64-Bit Server VM (14.3-b01 mixed mode windows-amd64 )
# Problematic frame:
# C  [ntdll.dll+0xa36f2]
#
# If you would like to submit a bug report, please visit:
#   http://java.sun.com/webapps/bugreport/crash.jsp
#

Does someone have an idea what the problem could be? I also attached the whole error log file. With MATLAB 2018b everything works fine.

Any help on this would be awesome! Thank you!

best regards
Ingo

UPDATE:
The problem occurs while executing the line

grampc = CmexFiles.grampc_estim_penmin_Cmex(grampc,1);

in "initData.m". When I comment out that line everything works just fine without a crash.
It seems MATLAB R2012b has some problem with the "grampc_estim_penmin_Cmex.mexw64" Mex file. So for the moment my solution is to just manually estimate/set c_min.

[Ingo Walch]

Another Problem I noticed with GRAMPC in MATLAB R2012b regards the problem function build using "grampc_make_probfct.m".
In lines 131 & 132 one have to use "regexp" instead of "strsplit" because R2012b doesn't recognize the function "strsplit".

So I replaced

probfctfilename = strsplit(probfct,'/');
probfctfilename = strsplit(probfctfilename{end},'\');

by

probfctfilename = regexp(probfct,'/','split');
probfctfilename = regexp(probfctfilename{end},'\','split');

Maybe this info is useful for someone who also sticks to old MATLAB versions like me..

BR

[Andreas Völz]

Hello Ingo,

thanks for tracking the error down to the call
grampc = CmexFiles.grampc_estim_penmin_Cmex(grampc,1);
in initData.m. I suspect that the error stems from having only one output argument here (grampc), but setting two output arguments (grampc and status) in the Cmex-function. Could you please verify this by changing the call to
[grampc, cmin] = CmexFiles.grampc_estim_penmin_Cmex(grampc,1);
and report your results?

Regards,
Andreas

[Ingo Walch]

Hi Andreas,

you're right that was the problem!
I changed the call to two output arguments now and it works out. No crashes anymore.

Thank you very much,
Ingo

[Andreas Völz]

Hello Ingo,

thanks for testing and the quick feedback. We will add a corresponding bugfix in the next version of GRAMPC.

Regards,
Andreas