How do I plot the progress of fmincon to see the convergence of the approximation?

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I want to see the output at each iteration of the optimization. I am solving for MPC and want to plot the entire future solution at each iteration of the algorithm to see how the system behaves throughout the optimization process. I tried the PlotFcns option but this doesn't give me the vector of outputs, I think just the first element. Is there a way to do this?

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