Installation instructions for fast_mpc
-----------------------------------------------------------------------

fast_mpc is written in C with a mex interface to MATLAB.  Before 
installation, make sure that BLAS and LAPACK libraries are installed
in your machine. 


1. Unpack the fast_mpc files, or get them individually.

2. Start MATLAB and cd to the directory containing the source files.

3. At the MATLAB command prompt type

        >> mex -setup

   and enter the number corresponding to the template option gccopts.sh.

4. Compile fmpc_sim.c using

        >> mex fmpc_sim.c

   On some machines you may need to specify the libraries

        >> mex fmpc_sim.c -lblas -llapack
    
   If you want to link your own libraries, you can. For example,
   to link the libraries libacml.a, libacml_mv.a, and libgfortran.a 
   in the directory /opt/acml/lib, use the option '-L' to specify the 
   library search path and the option '-l' to specify the individual 
   libraries, as in

       >> mex fmpc_sim.c -L/opt/acml/lib -lacml -lacml_mv -lgfortran

5. If fmpc_sim.c compiles successfully, do the same with fmpc_step.c.

6. Test the installation by running the masses_example script

       >> masses_example

   which will run MPC, for 100 iterations, on the masses example in the paper,
   using mpc_step.  You should see reports from each iteration printed to your 
   screen. The last one, for example, should look like

 iteration       step            rd                      rp
    0            0.3874          1.09294e+01             1.27108e+00
    1            1.0000          1.54052e+00             1.39748e-14
    2            1.0000          2.98332e-01             1.40216e-15
    3            1.0000          1.16741e-02             1.02482e-15

The average cost is: 5.683200

   Test mpc_sim by running the script randsys_example.