说明：  To begin with, some parts of a Simulink model are compiled for performance, and this compiler does not support code which involves object oriented code. Hence, it fails when it encounters any kind of YALMIP related code. In practice, this means that all YALMIP code has to be placed in a so called Interpreted MATLAB function. This implies that you cannot compile Simulink with YALMIP to a target (such as a DSP or something similar). At least, I have not come up with any way to do this. Second, since Simulink typically is used for simulations, the YALMIP code will most likely be called a large number of times. Hence, it is important to create efficient YALMIP code, minimizing overhead and unnecessary computations by using an optimizer object. In many cases this is possible, but sometimes it is hard and you simply have to accept that the simulations run slowly if you want to use highl-level YALMIP code.